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Added new encoders, updated docs, safety's

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thenetworkgrinch
2023-09-01 00:21:16 -05:00
parent 10a4b528a4
commit 0b02b3c504
114 changed files with 878 additions and 329 deletions
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46
swervelib/imu/NavXSwerve.java
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@@ -5,6 +5,8 @@ import edu.wpi.first.math.geometry.Quaternion;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.SerialPort;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.Optional;
@@ -41,7 +43,49 @@ public class NavXSwerve extends SwerveIMU
SmartDashboard.putData(gyro);
} catch (RuntimeException ex)
{
DriverStation.reportError("Error instantiating navX-MXP: " + ex.getMessage(), true);
DriverStation.reportError("Error instantiating navX: " + ex.getMessage(), true);
}
}
/**
* Constructor for the NavX swerve.
*
* @param port SPI Port to connect to.
*/
public NavXSwerve(SPI.Port port)
{
try
{
/* Communicate w/navX-MXP via the MXP SPI Bus. */
/* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */
/* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
gyro = new AHRS(port);
factoryDefault();
SmartDashboard.putData(gyro);
} catch (RuntimeException ex)
{
DriverStation.reportError("Error instantiating navX: " + ex.getMessage(), true);
}
}
/**
* Constructor for the NavX swerve.
*
* @param port I2C Port to connect to.
*/
public NavXSwerve(I2C.Port port)
{
try
{
/* Communicate w/navX-MXP via the MXP SPI Bus. */
/* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */
/* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
gyro = new AHRS(port);
factoryDefault();
SmartDashboard.putData(gyro);
} catch (RuntimeException ex)
{
DriverStation.reportError("Error instantiating navX: " + ex.getMessage(), true);
}
}