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Add alerts to PWMDutyCycleEncoder and SparkMax

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This commit is contained in:
Alex Sirota
2024-03-24 11:46:53 -07:00
parent 9a2eb4e74f
commit 20a8c990aa
2 changed files with 19 additions and 1 deletions
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10
swervelib/motors/SparkMaxSwerve.java
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@@ -52,6 +52,11 @@ public class SparkMaxSwerve extends SwerveMotor
*/
private Supplier<Double> position;
/**
* An {@link Alert} for if there is an error configuring the motor.
*/
private Alert failureConfiguringAlert;
/**
* Initialize the swerve motor.
*
@@ -74,6 +79,9 @@ public class SparkMaxSwerve extends SwerveMotor
position = encoder::getPosition;
// Spin off configurations in a different thread.
// configureSparkMax(() -> motor.setCANTimeout(0)); // Commented out because it prevents feedback.
failureConfiguringAlert = new Alert("Motors",
"Failure configuring motor " + motor.getDeviceId(),
Alert.AlertType.WARNING_TRACE);
}
/**
@@ -101,7 +109,7 @@ public class SparkMaxSwerve extends SwerveMotor
return;
}
}
DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true);
failureConfiguringAlert.set(true);
}
/**