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Added lock to ensure safety of odometry update

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This commit is contained in:
thenetworkgrinch
2023-08-29 21:56:52 -05:00
parent 14f66bb679
commit 10a4b528a4
115 changed files with 574 additions and 341 deletions
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5
swervelib/encoders/CANCoderSwerve.java
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@@ -102,9 +102,8 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
// Taken from democat's library.
// Source: https://github.com/democat3457/swerve-lib/blob/7c03126b8c22f23a501b2c2742f9d173a5bcbc40/src/main/java/com/swervedrivespecialties/swervelib/ctre/CanCoderFactoryBuilder.java#L51-L74
ErrorCode code = encoder.getLastError();
int ATTEMPTS = 3;
for (int i = 0; i < ATTEMPTS; i++)
ErrorCode code = encoder.getLastError();
for (int i = 0; i < maximumRetries; i++)
{
if (code == ErrorCode.OK)
{