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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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64
swervelib/encoders/CANCoderSwerve.java
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@@ -9,7 +9,7 @@ import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
import com.ctre.phoenix6.signals.MagnetHealthValue;
import com.ctre.phoenix6.signals.SensorDirectionValue;
import edu.wpi.first.wpilibj.DriverStation;
import swervelib.telemetry.Alert;
/**
* Swerve Absolute Encoder for CTRE CANCoders.
@@ -20,7 +20,23 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
/**
* CANCoder with WPILib sendable and support.
*/
public CANcoder encoder;
public CANcoder encoder;
/**
* An {@link Alert} for if the CANCoder magnet field is less than ideal.
*/
private Alert magnetFieldLessThanIdeal;
/**
* An {@link Alert} for if the CANCoder reading is faulty.
*/
private Alert readingFaulty;
/**
* An {@link Alert} for if the CANCoder reading is faulty and the reading is ignored.
*/
private Alert readingIgnored;
/**
* An {@link Alert} for if the absolute encoder offset cannot be set.
*/
private Alert cannotSetOffset;
/**
* Initialize the CANCoder on the standard CANBus.
@@ -41,6 +57,24 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
public CANCoderSwerve(int id, String canbus)
{
encoder = new CANcoder(id, canbus);
magnetFieldLessThanIdeal = new Alert(
"Encoders",
"CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.",
Alert.AlertType.WARNING);
readingFaulty = new Alert(
"Encoders",
"CANCoder " + encoder.getDeviceID() + " reading was faulty.",
Alert.AlertType.WARNING);
readingIgnored = new Alert(
"Encoders",
"CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.",
Alert.AlertType.WARNING);
cannotSetOffset = new Alert(
"Encoders",
"Failure to set CANCoder "
+ encoder.getDeviceID()
+ " Absolute Encoder Offset",
Alert.AlertType.WARNING);
}
/**
@@ -89,17 +123,17 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
readingError = false;
MagnetHealthValue strength = encoder.getMagnetHealth().getValue();
if (strength != MagnetHealthValue.Magnet_Green)
{
DriverStation.reportWarning(
"CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.\n", false);
}
magnetFieldLessThanIdeal.set(strength != MagnetHealthValue.Magnet_Green);
if (strength == MagnetHealthValue.Magnet_Invalid || strength == MagnetHealthValue.Magnet_Red)
{
readingError = true;
DriverStation.reportWarning("CANCoder " + encoder.getDeviceID() + " reading was faulty.\n", false);
readingFaulty.set(true);
return 0;
} else
{
readingFaulty.set(false);
}
StatusSignal<Double> angle = encoder.getAbsolutePosition().refresh();
// Taken from democat's library.
@@ -115,7 +149,10 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
if (angle.getStatus() != StatusCode.OK)
{
readingError = true;
DriverStation.reportWarning("CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.\n", false);
readingIgnored.set(true);
} else
{
readingIgnored.set(false);
}
return angle.getValue() * 360;
@@ -149,12 +186,17 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
return false;
}
error = cfg.apply(magCfg.withMagnetOffset(offset / 360));
cannotSetOffset.setText(
"Failure to set CANCoder "
+ encoder.getDeviceID()
+ " Absolute Encoder Offset Error: "
+ error);
if (error == StatusCode.OK)
{
cannotSetOffset.set(false);
return true;
}
DriverStation.reportWarning(
"Failure to set CANCoder " + encoder.getDeviceID() + " Absolute Encoder Offset Error: " + error, false);
cannotSetOffset.set(true);
return false;
}