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Added support for CANCoder warnings with less than ideal readings

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thenetworkgrinch
2023-02-14 22:43:02 -06:00
parent 54f7e442f7
commit 11cd39b78f
1 changed files with 6 additions and 0 deletions
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6
swervelib/encoders/CANCoderSwerve.java
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@@ -2,9 +2,11 @@ package swervelib.encoders;
import com.ctre.phoenix.sensors.AbsoluteSensorRange;
import com.ctre.phoenix.sensors.CANCoderConfiguration;
import com.ctre.phoenix.sensors.MagnetFieldStrength;
import com.ctre.phoenix.sensors.SensorInitializationStrategy;
import com.ctre.phoenix.sensors.SensorTimeBase;
import com.ctre.phoenix.sensors.WPI_CANCoder;
import edu.wpi.first.wpilibj.DriverStation;
/**
* Swerve Absolute Encoder for CTRE CANCoders.
@@ -80,6 +82,10 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
@Override
public double getAbsolutePosition()
{
if (encoder.getMagnetFieldStrength() != MagnetFieldStrength.Good_GreenLED)
{
DriverStation.reportWarning("CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.\n", false);
}
return encoder.getAbsolutePosition();
}