Apply suggestions from code review

Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>

Author: virtuald

examples/maxswerve/constants.py

@@ -26,7 +26,7 @@ class DriveConstants:
     # Driving Parameters - Note that these are not the maximum capable speeds of
     # the robot, rather the allowed maximum speeds
     kMaxSpeedMetersPerSecond = 4.8
-    kMaxAngularSpeed = 2 * math.pi  # radians per second
+    kMaxAngularSpeed = math.tau  # radians per second
 
     kDirectionSlewRate = 1.2  # radians per second
     kMagnitudeSlewRate = 1.8  # percent per second (1 = 100%)
@@ -93,8 +93,8 @@ class ModuleConstants:
         (kWheelDiameterMeters * math.pi) / kDrivingMotorReduction
     ) / 60.0  # meters per second
 
-    kTurningEncoderPositionFactor = 2 * math.pi  # radian
-    kTurningEncoderVelocityFactor = (2 * math.pi) / 60.0  # radians per second
+    kTurningEncoderPositionFactor = math.tau  # radian
+    kTurningEncoderVelocityFactor = math.tau / 60.0  # radians per second
 
     kTurningEncoderPositionPIDMinInput = 0  # radian
     kTurningEncoderPositionPIDMaxInput = kTurningEncoderPositionFactor  # radian

examples/maxswerve/subsystems/drivesubsystem.py

@@ -127,7 +127,7 @@ def drive(
         if rateLimit:
             # Convert XY to polar for rate limiting
             inputTranslationDir = math.atan2(ySpeed, xSpeed)
-            inputTranslationMag = math.sqrt(math.pow(xSpeed, 2) + math.pow(ySpeed, 2))
+            inputTranslationMag = math.hypot(xSpeed, ySpeed)
 
             # Calculate the direction slew rate based on an estimate of the lateral acceleration
             if self.currentTranslationMag != 0.0:
@@ -202,7 +202,7 @@ def drive(
             if fieldRelative
             else ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered)
         )
-        SwerveDrive4Kinematics.desaturateWheelSpeeds(
+        swerveModuleStates = SwerveDrive4Kinematics.desaturateWheelSpeeds(
             swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond
         )
         self.frontLeft.setDesiredState(swerveModuleStates[0])
@@ -224,7 +224,7 @@ def setModuleStates(self, desiredStates: typing.Tuple[SwerveModuleState]) -> Non
 
         :param desiredStates: The desired SwerveModule states.
         """
-        SwerveDrive4Kinematics.desaturateWheelSpeeds(
+        desiredStates = SwerveDrive4Kinematics.desaturateWheelSpeeds(
             desiredStates, DriveConstants.kMaxSpeedMetersPerSecond
         )
         self.frontLeft.setDesiredState(desiredStates[0])

examples/maxswerve/swerveutils.py

@@ -43,8 +43,8 @@ def stepTowardsCircular(current: float, target: float, stepsize: float) -> float
     elif difference > math.pi:  # does the system need to wrap over eventually?
         # handle the special case where you can reach the target in one step while also wrapping
         if (
-            current + 2 * math.pi - target < stepsize
-            or target + 2 * math.pi - current < stepsize
+            current + math.tau - target < stepsize
+            or target + math.tau - current < stepsize
         ):
             return target
         else:
@@ -63,7 +63,7 @@ def angleDifference(angleA: float, angleB: float) -> float:
     :returns: The (unsigned) minimum difference between the two angles (in radians).
     """
     difference = abs(angleA - angleB)
-    return (2 * math.pi) - difference if difference > math.pi else difference
+    return math.tau - difference if difference > math.pi else difference
 
 
 def wrapAngle(angle: float) -> float:
@@ -74,7 +74,7 @@ def wrapAngle(angle: float) -> float:
     :returns: An angle (in radians) from 0 and 2*PI (exclusive).
     """
 
-    twoPi = math.pi * 2
+    twoPi = math.tau
 
     # Handle this case separately to avoid floating point errors with the floor after the division in the case below
     if angle == twoPi: