From 28b8d1b0a0d9e54bdc8b8d9ffe19047e00fb85ac Mon Sep 17 00:00:00 2001
From: Zachary Orr <516458+ZachOrr@users.noreply.github.com>
Date: Fri, 28 Jan 2022 12:09:06 -0500
Subject: [PATCH] Adds Mk4i configurations

---
 .../Mk4SwerveModuleHelper$GearRatio.class     | Bin 0 -> 7022 bytes
 .../swervelib/Mk4SwerveModuleHelper.class     | Bin 0 -> 5215 bytes
 .../examples/mk3minibot/Main.class            | Bin 0 -> 1192 bytes
 .../examples/mk3minibot/Robot.class           | Bin 0 -> 767 bytes
 .../examples/mk3minibot/RobotContainer.class  | Bin 0 -> 3355 bytes
 .../mk3minibot/commands/DriveCommand.class    | Bin 0 -> 2013 bytes
 .../subsystems/DrivetrainSubsystem.class      | Bin 0 -> 4831 bytes
 .../examples/mk3testchassis/Main.class        | Bin 0 -> 1208 bytes
 .../examples/mk3testchassis/Robot.class       | Bin 0 -> 783 bytes
 .../mk3testchassis/RobotContainer.class       | Bin 0 -> 3391 bytes
 .../commands/DriveCommand.class               | Bin 0 -> 2033 bytes
 .../subsystems/DrivetrainSubsystem.class      | Bin 0 -> 4843 bytes
 .../swervelib/Mk4SwerveModuleHelper.java      |   5 +++-
 .../swervelib/SdsModuleConfigurations.java    |  22 ++++++++++++++++++
 14 files changed, 26 insertions(+), 1 deletion(-)
 create mode 100644 bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper$GearRatio.class
 create mode 100644 bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.class
 create mode 100644 examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Main.class
 create mode 100644 examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Robot.class
 create mode 100644 examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/RobotContainer.class
 create mode 100644 examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/commands/DriveCommand.class
 create mode 100644 examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/subsystems/DrivetrainSubsystem.class
 create mode 100644 examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Main.class
 create mode 100644 examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Robot.class
 create mode 100644 examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/RobotContainer.class
 create mode 100644 examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/commands/DriveCommand.class
 create mode 100644 examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/subsystems/DrivetrainSubsystem.class

diff --git a/bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper$GearRatio.class b/bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper$GearRatio.class
new file mode 100644
index 0000000000000000000000000000000000000000..f3dff8da43aa423e22a2df0627a33ec6f10fe163
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diff --git a/bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.class b/bin/main/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.class
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diff --git a/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Main.class b/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Main.class
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diff --git a/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Robot.class b/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/Robot.class
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diff --git a/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/RobotContainer.class b/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/RobotContainer.class
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diff --git a/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/commands/DriveCommand.class b/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/commands/DriveCommand.class
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diff --git a/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/subsystems/DrivetrainSubsystem.class b/examples/mk3-minibot/bin/main/com/swervedrivespecialties/examples/mk3minibot/subsystems/DrivetrainSubsystem.class
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literal 0
HcmV?d00001

diff --git a/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Main.class b/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Main.class
new file mode 100644
index 0000000000000000000000000000000000000000..eb3af194a34c4500ff915ed1f1763c3a525afdc9
GIT binary patch
literal 1208
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literal 0
HcmV?d00001

diff --git a/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Robot.class b/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/Robot.class
new file mode 100644
index 0000000000000000000000000000000000000000..6d192d75e07510b390c44c2caca3c97561d8be76
GIT binary patch
literal 783
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literal 0
HcmV?d00001

diff --git a/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/RobotContainer.class b/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/RobotContainer.class
new file mode 100644
index 0000000000000000000000000000000000000000..fa8205d140d8b940d92e34398555b73dfec77a46
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/commands/DriveCommand.class b/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/commands/DriveCommand.class
new file mode 100644
index 0000000000000000000000000000000000000000..f56d1c7a873b14464f3ef9f1db9562caf7d7692d
GIT binary patch
literal 2033
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literal 0
HcmV?d00001

diff --git a/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/subsystems/DrivetrainSubsystem.class b/examples/mk3-testchassis/bin/main/com/swervedrivespecialties/examples/mk3testchassis/subsystems/DrivetrainSubsystem.class
new file mode 100644
index 0000000000000000000000000000000000000000..b341b81d90ffd63266116aeb92496acf214ae44d
GIT binary patch
literal 4843
zcmeHL-E-4M5Z^OS>^KPt;j_@D3gyG$!%CA<I;GRWbxfK;PQZ3N@Pg+oUF;*0PIGq-
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literal 0
HcmV?d00001

diff --git a/src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java b/src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java
index 8086b76..7d0a8ab 100644
--- a/src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java
+++ b/src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java
@@ -492,7 +492,10 @@ public enum GearRatio {
         L1(SdsModuleConfigurations.MK4_L1),
         L2(SdsModuleConfigurations.MK4_L2),
         L3(SdsModuleConfigurations.MK4_L3),
-        L4(SdsModuleConfigurations.MK4_L4);
+        L4(SdsModuleConfigurations.MK4_L4),
+        L1I(SdsModuleConfigurations.MK4I_L1),
+        L2I(SdsModuleConfigurations.MK4I_L2),
+        L3I(SdsModuleConfigurations.MK4I_L3);
 
         private final ModuleConfiguration configuration;
 
diff --git a/src/main/java/com/swervedrivespecialties/swervelib/SdsModuleConfigurations.java b/src/main/java/com/swervedrivespecialties/swervelib/SdsModuleConfigurations.java
index 21db44f..b9da9c3 100644
--- a/src/main/java/com/swervedrivespecialties/swervelib/SdsModuleConfigurations.java
+++ b/src/main/java/com/swervedrivespecialties/swervelib/SdsModuleConfigurations.java
@@ -45,6 +45,28 @@ public final class SdsModuleConfigurations {
             true
     );
 
+    public static final ModuleConfiguration MK4I_L1 = new ModuleConfiguration(
+            0.10033,
+            (14.0 / 50.0) * (25.0 / 19.0) * (15.0 / 45.0),
+            true,
+            (14.0 / 50.0) * (10.0 / 60.0),
+            false
+    );
+    public static final ModuleConfiguration MK4I_L2 = new ModuleConfiguration(
+            0.10033,
+            (14.0 / 50.0) * (27.0 / 17.0) * (15.0 / 45.0),
+            true,
+            (14.0 / 50.0) * (10.0 / 60.0),
+            false
+    );
+    public static final ModuleConfiguration MK4I_L3 = new ModuleConfiguration(
+            0.10033,
+            (14.0 / 50.0) * (28.0 / 16.0) * (15.0 / 45.0),
+            true,
+            (14.0 / 50.0) * (10.0 / 60.0),
+            false
+    );
+
     private SdsModuleConfigurations() {
     }
 }