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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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10
swervelib/encoders/PWMDutyCycleEncoderSwerve.java
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@@ -26,10 +26,6 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
* An {@link Alert} for if the encoder cannot report accurate velocities.
*/
private Alert inaccurateVelocities;
/**
* An {@link Alert} for if the encoder is disconnected.
*/
private Alert disconnected;
/**
* Constructor for the PWM duty cycle encoder.
@@ -43,10 +39,6 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
"Encoders",
"The PWM Duty Cycle encoder may not report accurate velocities!",
Alert.AlertType.WARNING_TRACE);
inaccurateVelocities = new Alert(
"Encoders",
"The swerve encoder on port " + pin + "is disconnected!",
Alert.AlertType.ERROR_TRACE);
}
@@ -69,7 +61,6 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
@Override
public double getAbsolutePosition()
{
disconnected.set(!encoder.isConnected());
return (isInverted ? -1.0 : 1.0) * encoder.getAbsolutePosition() * 360;
}
@@ -92,7 +83,6 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
@Override
public double getVelocity()
{
disconnected.set(!encoder.isConnected());
inaccurateVelocities.set(true);
return encoder.get();
}