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Upgrading to 2025.7.0

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thenetworkgrinch
2025-02-22 06:15:56 +00:00
parent 62f8236678
commit 4016ee2190
41 changed files with 2237 additions and 557 deletions
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17
swervelib/encoders/CANCoderSwerve.java
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@@ -1,6 +1,5 @@
package swervelib.encoders;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.DegreesPerSecond;
import static edu.wpi.first.units.Units.Milliseconds;
import static edu.wpi.first.units.Units.Rotations;
@@ -13,7 +12,6 @@ import com.ctre.phoenix6.configs.CANcoderConfigurator;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.signals.MagnetHealthValue;
import com.ctre.phoenix6.signals.SensorDirectionValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.wpilibj.Alert;
@@ -28,7 +26,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
/**
* Wait time for status frames to show up.
*/
public static double STATUS_TIMEOUT_SECONDS = Milliseconds.of(10).in(Seconds);
public static double STATUS_TIMEOUT_SECONDS = Milliseconds.of(1).in(Seconds);
/**
* An {@link Alert} for if the CANCoder magnet field is less than ideal.
*/
@@ -114,6 +112,12 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
AlertType.kWarning);
}
@Override
public void close()
{
encoder.close();
}
/**
* Reset the encoder to factory defaults.
*/
@@ -158,6 +162,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
{
readingError = false;
MagnetHealthValue strength = magnetHealth.refresh().getValue();
angle.refresh();
magnetFieldLessThanIdeal.set(strength != MagnetHealthValue.Magnet_Green);
if (strength == MagnetHealthValue.Magnet_Invalid || strength == MagnetHealthValue.Magnet_Red)
@@ -170,8 +175,6 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
readingFaulty.set(false);
}
angle.refresh();
// Taken from democat's library.
// Source: https://github.com/democat3457/swerve-lib/blob/7c03126b8c22f23a501b2c2742f9d173a5bcbc40/src/main/java/com/swervedrivespecialties/swervelib/ctre/CanCoderFactoryBuilder.java#L51-L74
for (int i = 0; i < maximumRetries; i++)
@@ -190,8 +193,8 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
{
readingIgnored.set(false);
}
return angle.getValue().in(Degrees);
// Convert from Rotations to Degrees.
return angle.getValueAsDouble() * 360;
}
/**