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Fixed NetworkAlerts

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This commit is contained in:
thenetworkgrinch
2024-01-17 09:17:39 -06:00
parent f16ca43981
commit 1ca3db242c
19 changed files with 510 additions and 108 deletions
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23
swervelib/encoders/AnalogAbsoluteEncoderSwerve.java
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@@ -1,8 +1,8 @@
package swervelib.encoders;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotController;
import swervelib.telemetry.Alert;
/**
* Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
@@ -19,6 +19,14 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
* Inversion state of the encoder.
*/
private boolean inverted = false;
/**
* An {@link Alert} for if the absolute encoder offset cannot be set.
*/
private Alert cannotSetOffset;
/**
* An {@link Alert} detailing how the analog absolute encoder may not report accurate velocities.
*/
private Alert inaccurateVelocities;
/**
* Construct the Thrifty Encoder as a Swerve Absolute Encoder.
@@ -28,6 +36,14 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
public AnalogAbsoluteEncoderSwerve(AnalogInput encoder)
{
this.encoder = encoder;
cannotSetOffset = new Alert(
"Encoders",
"Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(),
Alert.AlertType.WARNING);
inaccurateVelocities = new Alert(
"Encoders",
"The Analog Absolute encoder may not report accurate velocities!",
Alert.AlertType.WARNING_TRACE);
}
/**
@@ -101,8 +117,7 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
public boolean setAbsoluteEncoderOffset(double offset)
{
//Do Nothing
DriverStation.reportWarning(
"Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(), false);
cannotSetOffset.set(true);
return false;
}
@@ -114,7 +129,7 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
@Override
public double getVelocity()
{
DriverStation.reportWarning("The Analog Absolute encoder may not report accurate velocities!", true);
inaccurateVelocities.set(true);
return encoder.getValue();
}
}