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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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26
swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
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@@ -4,9 +4,9 @@ import com.revrobotics.CANSparkMax;
import com.revrobotics.REVLibError;
import com.revrobotics.SparkAnalogSensor;
import com.revrobotics.SparkAnalogSensor.Mode;
import edu.wpi.first.wpilibj.DriverStation;
import java.util.function.Supplier;
import swervelib.motors.SwerveMotor;
import swervelib.telemetry.Alert;
/**
* SparkMax absolute encoder, attached through the data port analog pin.
@@ -17,7 +17,16 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
/**
* The {@link SparkAnalogSensor} representing the duty cycle encoder attached to the SparkMax analog port.
*/
public SparkAnalogSensor encoder;
public SparkAnalogSensor encoder;
/**
* An {@link Alert} for if there is a failure configuring the encoder.
*/
private Alert failureConfiguring;
/**
* An {@link Alert} for if the absolute encoder does not support integrated offsets.
*/
private Alert doesNotSupportIntegratedOffsets;
/**
* Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data
@@ -34,6 +43,15 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
{
throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
}
failureConfiguring = new Alert(
"Encoders",
"Failure configuring SparkMax Analog Encoder",
Alert.AlertType.WARNING_TRACE);
doesNotSupportIntegratedOffsets = new Alert(
"Encoders",
"SparkMax Analog Sensors do not support integrated offsets",
Alert.AlertType.WARNING_TRACE);
}
/**
@@ -50,7 +68,7 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
return;
}
}
DriverStation.reportWarning("Failure configuring encoder", true);
failureConfiguring.set(true);
}
/**
@@ -113,7 +131,7 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
@Override
public boolean setAbsoluteEncoderOffset(double offset)
{
DriverStation.reportWarning("SparkMax Analog Sensor's do not support integrated offsets", true);
doesNotSupportIntegratedOffsets.set(true);
return false;
}