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This commit is contained in:
thenetworkgrinch
2024-06-12 15:10:29 -05:00
parent 8c3470f453
commit 2d992a453a
7 changed files with 60 additions and 39 deletions
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13
swervelib/SwerveModule.java
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@@ -74,6 +74,10 @@ public class SwerveModule
* NT3 Raw drive motor.
*/
private final String rawDriveName;
/**
* NT3 Raw drive motor.
*/
private final String rawDriveVelName;
/**
* Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
*/
@@ -207,6 +211,7 @@ public class SwerveModule
absoluteEncoderIssueName = "Module[" + configuration.name + "] Absolute Encoder Read Issue";
rawAngleName = "Module[" + configuration.name + "] Raw Angle Encoder";
rawDriveName = "Module[" + configuration.name + "] Raw Drive Encoder";
rawDriveVelName = "Module[" + configuration.name + "] Raw Drive Velocity";
}
/**
@@ -252,7 +257,7 @@ public class SwerveModule
this.antiJitterEnabled = antiJitter;
if (antiJitter)
{
pushOffsetsToControllers();
pushOffsetsToEncoders();
} else
{
restoreInternalOffset();
@@ -366,7 +371,7 @@ public class SwerveModule
simModule.updateStateAndPosition(desiredState);
}
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.INFO.ordinal())
{
SwerveDriveTelemetry.desiredStates[moduleNumber * 2] = desiredState.angle.getDegrees();
SwerveDriveTelemetry.desiredStates[(moduleNumber * 2) + 1] = velocity;
@@ -580,7 +585,7 @@ public class SwerveModule
/**
* Push absolute encoder offset in the memory of the encoder or controller. Also removes the internal angle offset.
*/
public void pushOffsetsToControllers()
public void pushOffsetsToEncoders()
{
if (absoluteEncoder != null && angleOffset == configuration.angleOffset)
{
@@ -633,7 +638,7 @@ public class SwerveModule
}
SmartDashboard.putNumber(rawAngleName, angleMotor.getPosition());
SmartDashboard.putNumber(rawDriveName, driveMotor.getPosition());
SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
SmartDashboard.putNumber(rawDriveVelName, driveMotor.getVelocity()); SmartDashboard.putNumber(adjAbsoluteAngleName, getAbsolutePosition());
SmartDashboard.putNumber(absoluteEncoderIssueName, getAbsoluteEncoderReadIssue() ? 1 : 0);
}
}