Remove use of mutable measures

src/main/java/xbot/common/controls/actuators/XCANMotorController.java

@@ -329,11 +329,11 @@ public void periodic() {
             return;
         }
 
-        if (softwareForwardLimit.getAsBoolean() && getVoltage().gt(Volts.of(0))) {
+        if (softwareForwardLimit.getAsBoolean() && getVoltage().gt(Volts.zero())) {
             //log.warn("Forward software limit hit");
             setPower(0);
         }
-        if (softwareReverseLimit.getAsBoolean() && getVoltage().lt(Volts.of(0))) {
+        if (softwareReverseLimit.getAsBoolean() && getVoltage().lt(Volts.zero())) {
             //log.warn("Reverse software limit hit");
             setPower(0);
         }
@@ -698,12 +698,12 @@ public void refreshDataFrame() {
     }
 
     protected boolean isValidVoltageRequest(Voltage voltage) {
-        if (voltage.gt(Volts.of(0)) && softwareForwardLimit.getAsBoolean()) {
+        if (voltage.gt(Volts.zero()) && softwareForwardLimit.getAsBoolean()) {
             // TODO: Change these various warnings to only trigger once on the rising edge of the issue.
             //log.warn("Attempted to set positive voltage on motor controller with forward software limit enabled");
             return false;
         }
-        if (voltage.lt(Volts.of(0)) && softwareReverseLimit.getAsBoolean()) {
+        if (voltage.lt(Volts.zero()) && softwareReverseLimit.getAsBoolean()) {
             //log.warn("Attempted to set negative voltage on motor controller with reverse software limit enabled");
             return false;
         }

src/main/java/xbot/common/controls/actuators/mock_adapters/MockCANMotorController.java

@@ -8,11 +8,8 @@
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Current;
 import edu.wpi.first.units.measure.Frequency;
-import edu.wpi.first.units.measure.MutAngle;
-import edu.wpi.first.units.measure.MutAngularVelocity;
-import edu.wpi.first.units.measure.MutCurrent;
-import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.units.measure.Velocity;
 import edu.wpi.first.units.measure.Voltage;
@@ -46,12 +43,12 @@ public enum ControlMode {
 
     private ControlMode controlMode = ControlMode.DutyCycle;
     private double power = 0.0;
-    private final MutVoltage voltage = Volts.mutable(0);
-    private final MutCurrent current = Amps.mutable(0);
-    private final MutAngle position = Rotations.mutable(0);
-    private final MutAngle targetPosition = Rotations.mutable(0);
-    private final MutAngularVelocity targetVelocity = RPM.mutable(0);
-    private final MutAngularVelocity velocity = RPM.mutable(0);
+    private Voltage voltage = Volts.zero();
+    private Current current = Amps.zero();
+    private Angle position = Rotations.zero();
+    private Angle targetPosition = Rotations.zero();
+    private AngularVelocity targetVelocity = RPM.zero();
+    private AngularVelocity velocity = RPM.zero();
     public double p;
     public double i;
     public double d;
@@ -136,8 +133,8 @@ public void setPower(double power) {
         }
         controlMode = ControlMode.DutyCycle;
         this.power = MathUtil.clamp(power, -1.0, 1.0);
-        this.voltage.mut_replace(MathUtil.clamp(power * 12.0, -12.0, 12.0), Volts);
-        this.current.mut_replace(MathUtil.clamp(power, -1.0, 1.0), Amps);
+        this.voltage = Volts.of(MathUtil.clamp(power * 12.0, -12.0, 12.0));
+        this.current = Amps.of(MathUtil.clamp(power, -1.0, 1.0));
     }
 
     /*
@@ -165,13 +162,13 @@ public Angle getRawPosition_internal() {
 
     @Override
     public void setRawPosition(Angle position) {
-        this.position.mut_replace(position);
+        this.position = position;
     }
 
     @Override
     public void setRawPositionTarget(Angle rawPosition, MotorPidMode mode, int slot) {
         controlMode = ControlMode.Position;
-        this.targetPosition.mut_replace(rawPosition);
+        this.targetPosition = rawPosition;
     }
 
     public Angle getTargetPosition() {
@@ -187,17 +184,17 @@ public AngularVelocity getRawVelocity_internal() {
     }
 
     public void setVelocity(AngularVelocity velocity) {
-        this.velocity.mut_replace(convertScaledVelocityToRawVelocity(velocity));
+        this.velocity = convertScaledVelocityToRawVelocity(velocity);
     }
 
     public void setRawVelocity(AngularVelocity rawVelocity) {
-        this.velocity.mut_replace(rawVelocity);
+        this.velocity = rawVelocity;
     }
 
     @Override
     public void setRawVelocityTarget(AngularVelocity rawVelocity, MotorPidMode mode, int slot) {
         controlMode = ControlMode.Velocity;
-        this.targetVelocity.mut_replace(rawVelocity);
+        this.targetVelocity = rawVelocity;
     }
 
     @Override
@@ -214,9 +211,9 @@ public void setVoltage(Voltage voltage) {
         if (!isValidVoltageRequest(voltage)) {
             return;
         }
-        this.voltage.mut_replace(voltage);
+        this.voltage = voltage;
         this.power = MathUtil.clamp(voltage.in(Volts) / 12.0, -1.0, 1.0);
-        this.current.mut_replace(voltage.in(Volts) / 12.0, Amps);
+        this.current = Amps.of(voltage.in(Volts) / 12.0);
     }
 
     @Override

src/main/java/xbot/common/controls/sensors/mock_adapters/MockCANCoder.java

@@ -4,8 +4,6 @@
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularVelocity;
-import edu.wpi.first.units.measure.MutAngle;
-import edu.wpi.first.units.measure.MutAngularVelocity;
 import org.json.JSONObject;
 
 import dagger.assisted.Assisted;
@@ -35,8 +33,8 @@ public class MockCANCoder extends XCANCoder implements ISimulatableSensor {
     private double positionOffset;
 
     private final boolean inverted;
-    private final MutAngularVelocity velocity;
-    private final MutAngle position;
+    private AngularVelocity velocity;
+    private Angle position;
 
     @AssistedFactory
     public abstract static class MockCANCoderFactory implements XCANCoderFactory {
@@ -53,8 +51,8 @@ public MockCANCoder(@Assisted("deviceInfo") DeviceInfo deviceInfo,
         pf.setPrefix(owningSystemPrefix);
 
         this.deviceId = deviceInfo.channel;
-        this.velocity = RPM.mutable(0);
-        this.position = Rotations.mutable(0);
+        this.velocity = RPM.zero();
+        this.position = Rotations.zero();
         pf.setDefaultLevel(Property.PropertyLevel.Debug);
         this.positionOffset = 0;
         this.inverted = deviceInfo.inverted;
@@ -77,7 +75,7 @@ public Angle getAbsolutePosition_internal() {
     }
 
     public void setVelocity(AngularVelocity newVelocity) {
-        this.velocity.mut_replace(newVelocity.times(inverted ? -1 : 1));
+        this.velocity = newVelocity.times(inverted ? -1 : 1);
     }
 
     public AngularVelocity getVelocity_internal() {
@@ -86,15 +84,15 @@ public AngularVelocity getVelocity_internal() {
 
     @Override
     public void setPosition(Angle newPosition) {
-        position.mut_replace(newPosition.times(inverted ? -1 : 1));
+        position = newPosition.times(inverted ? -1 : 1);
     }
 
     public double getPositionOffset() {
         return this.positionOffset;
     }
 
     public void setAbsolutePosition(Angle position) {
-        this.position.mut_replace(position.times(inverted ? -1 : 1));
+        this.position = position.times(inverted ? -1 : 1);
     }
 
     @Override

src/main/java/xbot/common/controls/sensors/wpi_adapters/LaserCANWpiAdapter.java

@@ -62,7 +62,7 @@ public void updateInputs(LaserCANInputs inputs) {
             inputs.measurementLatency = XTimer.getFPGATimestampTime().minus(previousMeasurementTime);
             inputs.isMeasurementValid = true;
         } else {
-            inputs.distance = Meters.of(0);
+            inputs.distance = Meters.zero();
             inputs.measurementLatency = Seconds.zero();
             inputs.isMeasurementValid = false;
         }

src/main/java/xbot/common/injection/electrical_contract/SparkMaxMotorControllerOutputConfig.java

@@ -47,7 +47,7 @@ public SparkMaxMotorControllerOutputConfig withSmartCurrentLimit(Current stallCu
     public SparkMaxMotorControllerOutputConfig withSmartCurrentLimit(Current stallCurrent) {
         this.sparkStallCurrentLimit = stallCurrent;
         this.sparkFreeCurrentLimit = stallCurrent;
-        this.sparkStallSpeed = RPM.of(0);
+        this.sparkStallSpeed = RPM.zero();
         return this;
     }
 }

src/main/java/xbot/common/properties/AngleProperty.java

@@ -2,14 +2,13 @@
 
 import edu.wpi.first.units.AngleUnit;
 import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.units.measure.MutAngle;
 
 /**
  * This manages an Angle in the property system.
  *
  * @author Alex
  */
-public class AngleProperty extends MeasureProperty<Angle, MutAngle, AngleUnit> {
+public class AngleProperty extends MeasureProperty<Angle, AngleUnit> {
     public AngleProperty(String prefix, String name, Angle defaultValue, XPropertyManager manager) {
         super(prefix, name, defaultValue, manager);
     }

src/main/java/xbot/common/properties/AngularVelocityProperty.java

@@ -2,12 +2,11 @@
 
 import edu.wpi.first.units.AngularVelocityUnit;
 import edu.wpi.first.units.measure.AngularVelocity;
-import edu.wpi.first.units.measure.MutAngularVelocity;
 
 /**
  * This manages an AngleVelocity in the property system.
  */
-public class AngularVelocityProperty extends MeasureProperty<AngularVelocity, MutAngularVelocity, AngularVelocityUnit> {
+public class AngularVelocityProperty extends MeasureProperty<AngularVelocity, AngularVelocityUnit> {
     public AngularVelocityProperty(String prefix, String name, AngularVelocity defaultValue, XPropertyManager manager) {
         super(prefix, name, defaultValue, manager);
     }

src/main/java/xbot/common/properties/DistanceProperty.java

@@ -2,14 +2,13 @@
 
 import edu.wpi.first.units.DistanceUnit;
 import edu.wpi.first.units.measure.Distance;
-import edu.wpi.first.units.measure.MutDistance;
 
 /**
  * This manages a Distance in the property system.
  *
  * @author Alex
  */
-public class DistanceProperty extends MeasureProperty<Distance, MutDistance, DistanceUnit> {
+public class DistanceProperty extends MeasureProperty<Distance, DistanceUnit> {
     public DistanceProperty(String prefix, String name, Distance defaultValue, XPropertyManager manager) {
         super(prefix, name, defaultValue, manager);
     }

src/main/java/xbot/common/properties/MeasureProperty.java

@@ -1,7 +1,6 @@
 package xbot.common.properties;
 
 import edu.wpi.first.units.Measure;
-import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Unit;
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.Logger;
@@ -12,21 +11,20 @@
 
 public class MeasureProperty<
         MeasureT extends Measure<UnitT>,
-        MutMeasureT extends MutableMeasure<UnitT, MeasureT, MutMeasureT>,
         UnitT extends Unit
         > extends Property {
     final MeasureT defaultValue;
     final UnitT defaultUnit;
-    final MutMeasureT lastValue;
-    final MutMeasureT currentValue;
+    MeasureT lastValue;
+    MeasureT currentValue;
 
     private final LoggableInputs inputs = new LoggableInputs() {
         public void toLog(LogTable table) {
             table.put(suffix, currentValue);
         }
 
         public void fromLog(LogTable table) {
-            currentValue.mut_replace(table.get(suffix, defaultValue));
+            currentValue = table.get(suffix, defaultValue);
         }
     };
 
@@ -39,8 +37,8 @@ public MeasureProperty(String prefix, String name, MeasureT defaultValue, XPrope
         this.defaultValue = defaultValue;
         this.defaultUnit = defaultValue.unit();
 
-        currentValue = (MutMeasureT) defaultValue.mutableCopy();
-        lastValue = (MutMeasureT) defaultValue.mutableCopy();
+        currentValue = defaultValue;
+        lastValue = defaultValue;
 
 
         // Check for non-default on load; also store a "last value" we can use
@@ -49,12 +47,12 @@ public MeasureProperty(String prefix, String name, MeasureT defaultValue, XPrope
         if (!firstValue.isEquivalent(defaultValue)) {
             log.info("Property " + key + " has the non-default value " + firstValue);
         }
-        lastValue.mut_replace(firstValue);
-        currentValue.mut_replace((MeasureT) firstValue.copy());
+        lastValue = firstValue;
+        currentValue = firstValue;
     }
 
     public MeasureT get() {
-        return currentValue.copy();
+        return currentValue;
     }
 
 
@@ -73,31 +71,31 @@ public MeasureT get_internal() {
 
     public void set(MeasureT value) {
         activeStore.setDouble(key, value.in(defaultUnit));
-        currentValue.mut_replace(value);
+        currentValue = value;
     }
 
     public void hasChangedSinceLastCheck(Consumer<MeasureT> callback) {
         MeasureT currentValue = get();
         if (!currentValue.isEquivalent(lastValue)) {
             callback.accept(currentValue);
         }
-        lastValue.mut_replace(currentValue);
+        lastValue = currentValue;
     }
 
     public boolean hasChangedSinceLastCheck() {
         MeasureT currentValue = get();
         boolean changed = !currentValue.isEquivalent(lastValue);
-        lastValue.mut_replace(currentValue);
+        lastValue = currentValue;
         return changed;
     }
 
     public boolean isSetToDefault() {
-        return get() == defaultValue;
+        return get().isEquivalent(defaultValue);
     }
 
     @Override
     public void refreshDataFrame() {
-        currentValue.mut_replace(get_internal());
+        currentValue = get_internal();
         Logger.processInputs(akitLogPrefix(), inputs);
     }
 }

src/main/java/xbot/common/properties/TimeProperty.java

@@ -1,15 +1,14 @@
 package xbot.common.properties;
 
 import edu.wpi.first.units.TimeUnit;
-import edu.wpi.first.units.measure.MutTime;
 import edu.wpi.first.units.measure.Time;
 
 /**
  * This manages an Angle in the property system.
  *
  * @author Alex
  */
-public class TimeProperty extends MeasureProperty<Time, MutTime, TimeUnit> {
+public class TimeProperty extends MeasureProperty<Time, TimeUnit> {
     public TimeProperty(String prefix, String name, Time defaultValue, XPropertyManager manager) {
         super(prefix, name, defaultValue, manager);
     }

src/main/java/xbot/common/subsystems/pose/BasePoseSubsystem.java

@@ -2,8 +2,8 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.Distance;
-import edu.wpi.first.units.measure.MutAngle;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -56,7 +56,7 @@ public abstract class BasePoseSubsystem extends BaseSubsystem implements ISwerve
     public static Distance fieldXMidpoint = Meters.of(8.7785);
     public static Distance fieldYHeight = Inches.of(317);
 
-    private final MutAngle currentHeading;
+    private Angle currentHeading;
 
     public BasePoseSubsystem(XGyroFactory gyroFactory, PropertyFactory propManager) {
         this(gyroFactory.create(), propManager);
@@ -70,7 +70,7 @@ public BasePoseSubsystem(XGyro gyro, PropertyFactory propManager) {
 
         // Right when the system is initialized, we need to have the old value be
         // the same as the current value, to avoid any sudden changes later
-        currentHeading = Degrees.mutable(0);
+        currentHeading = Degrees.zero();
 
         propManager.setDefaultLevel(Property.PropertyLevel.Debug);
         rioRotated = propManager.createPersistentProperty("RIO rotated", false);
@@ -83,7 +83,7 @@ protected double getCompassHeading(Rotation2d standardHeading) {
     }
 
     protected void updateCurrentHeading() {
-        currentHeading.mut_replace(MathUtil.inputModulus(getRobotYaw().getDegrees() + headingOffset, -180, 180), Degrees);
+        currentHeading = Degrees.of(MathUtil.inputModulus(getRobotYaw().getDegrees() + headingOffset, -180, 180));
 
         aKitLog.record("AdjustedHeadingDegrees", currentHeading.in(Degrees));
         aKitLog.record("AdjustedHeadingRadians", currentHeading.in(Radians));