Upgrading to 2025.7.0

2026-06-23 06:41:41 +00:00 · 2025-02-22 06:15:56 +00:00
parent 62f8236678
commit 4016ee2190
41 changed files with 2237 additions and 557 deletions
--- a/swervelib/encoders/SparkFlexEncoderSwerve.java
+++ b/swervelib/encoders/SparkFlexEncoderSwerve.java
@@ -0,0 +1,165 @@
+package swervelib.encoders;
+
+import com.revrobotics.AbsoluteEncoder;
+import com.revrobotics.spark.SparkAbsoluteEncoder;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.config.SparkFlexConfig;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import swervelib.motors.SparkFlexSwerve;
+import swervelib.motors.SwerveMotor;
+
+/**
+ * SparkFlex absolute encoder, attached through the data port.
+ */
+public class SparkFlexEncoderSwerve extends SwerveAbsoluteEncoder
+{
+
+  /**
+   * The {@link AbsoluteEncoder} representing the duty cycle encoder attached to the SparkFlex.
+   */
+  public  SparkAbsoluteEncoder encoder;
+  /**
+   * An {@link Alert} for if there is a failure configuring the encoder.
+   */
+  private Alert                failureConfiguring;
+  /**
+   * {@link SparkFlexSwerve} instance.
+   */
+  private SwerveMotor sparkFlex;
+
+  /**
+   * Create the {@link SparkFlexEncoderSwerve} object as a duty cycle from the {@link SparkFlex} motor.
+   *
+   * @param motor            Motor to create the encoder from.
+   * @param conversionFactor The conversion factor to set if the output is not from 0 to 360.
+   */
+  public SparkFlexEncoderSwerve(SwerveMotor motor, int conversionFactor)
+  {
+    failureConfiguring = new Alert(
+        "Encoders",
+        "Failure configuring SparkFlex Absolute Encoder",
+        AlertType.kWarning);
+    if (motor.getMotor() instanceof SparkFlex)
+    {
+      sparkFlex = motor;
+      encoder = ((SparkFlex) motor.getMotor()).getAbsoluteEncoder();
+      setConversionFactor(conversionFactor);
+    } else
+    {
+      throw new RuntimeException("Motor given to instantiate SparkFlexEncoder is not a CANSparkFlex");
+    }
+  }
+
+  @Override
+  public void close()
+  {
+    // SPARK Flex encoder gets closed with the motor
+    // I don't think an encoder getting closed should 
+    // close the entire motor so i will keep this empty
+    // sparkFlex.close();
+  }
+
+  /**
+   * Reset the encoder to factory defaults.
+   */
+  @Override
+  public void factoryDefault()
+  {
+    // Do nothing
+  }
+
+  /**
+   * Clear sticky faults on the encoder.
+   */
+  @Override
+  public void clearStickyFaults()
+  {
+    // Do nothing
+  }
+
+  /**
+   * Configure the absolute encoder to read from [0, 360) per second.
+   *
+   * @param inverted Whether the encoder is inverted.
+   */
+  @Override
+  public void configure(boolean inverted)
+  {
+    if (sparkFlex instanceof SparkFlexSwerve)
+    {
+      SparkFlexConfig cfg = ((SparkFlexSwerve) sparkFlex).getConfig();
+      cfg.absoluteEncoder.inverted(inverted);
+      ((SparkFlexSwerve) sparkFlex).updateConfig(cfg);
+    }
+  }
+
+  /**
+   * Set the conversion factor of the {@link SparkFlexEncoderSwerve}.
+   *
+   * @param conversionFactor Position conversion factor from ticks to unit.
+   */
+  public void setConversionFactor(double conversionFactor)
+  {
+    SparkFlexConfig cfg = ((SparkFlexSwerve) sparkFlex).getConfig();
+    cfg.signals
+        .absoluteEncoderPositionAlwaysOn(true)
+        .absoluteEncoderPositionPeriodMs(20);
+    cfg.absoluteEncoder
+        .positionConversionFactor(conversionFactor)
+        .velocityConversionFactor(conversionFactor / 60);
+    ((SparkFlexSwerve) sparkFlex).updateConfig(cfg);
+  }
+
+  /**
+   * Get the absolute position of the encoder.
+   *
+   * @return Absolute position in degrees from [0, 360).
+   */
+  @Override
+  public double getAbsolutePosition()
+  {
+    return encoder.getPosition();
+  }
+
+  /**
+   * Get the instantiated absolute encoder Object.
+   *
+   * @return Absolute encoder object.
+   */
+  @Override
+  public Object getAbsoluteEncoder()
+  {
+    return encoder;
+  }
+
+  /**
+   * Sets the Absolute Encoder Offset inside of the SparkFlex's Memory.
+   *
+   * @param offset the offset the Absolute Encoder uses as the zero point.
+   * @return if setting Absolute Encoder Offset was successful or not.
+   */
+  @Override
+  public boolean setAbsoluteEncoderOffset(double offset)
+  {
+    if (sparkFlex instanceof SparkFlexSwerve)
+    {
+      SparkFlexConfig cfg = ((SparkFlexSwerve) sparkFlex).getConfig();
+      cfg.absoluteEncoder.zeroOffset(offset);
+      ((SparkFlexSwerve) sparkFlex).updateConfig(cfg);
+      return true;
+    }
+    return false;
+  }
+
+  /**
+   * Get the velocity in degrees/sec.
+   *
+   * @return velocity in degrees/sec.
+   */
+  @Override
+  public double getVelocity()
+  {
+    return encoder.getVelocity();
+  }
+}