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Upgrading to 2025.7.0

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This commit is contained in:
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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60
swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
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@@ -3,6 +3,7 @@ package swervelib.encoders;
import com.revrobotics.REVLibError;
import com.revrobotics.spark.SparkAnalogSensor;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
@@ -47,8 +48,7 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
{
sparkMax = motor;
encoder = ((SparkMax) motor.getMotor()).getAnalog();
motor.setAbsoluteEncoder(this);
sparkMax.configureIntegratedEncoder(360 / maxVoltage);
setConversionFactor(360.0 / maxVoltage);
} else
{
throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
@@ -64,6 +64,15 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
}
@Override
public void close()
{
// SPARK MAX Analog 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
// sparkMax.close();
}
/**
* Run the configuration until it succeeds or times out.
*
@@ -81,6 +90,49 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
failureConfiguring.set(true);
}
/**
* Set the conversion factor of the {@link SparkMaxAnalogEncoderSwerve}.
*
* @param conversionFactor Position conversion factor from ticks to unit.
*/
public void setConversionFactor(double conversionFactor)
{
SparkMaxConfig cfg = null;
if (sparkMax instanceof SparkMaxSwerve)
{
cfg = ((SparkMaxSwerve) sparkMax).getConfig();
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
}
if (cfg != null)
{
cfg.closedLoop.feedbackSensor(FeedbackSensor.kAnalogSensor);
cfg.signals
.analogVelocityAlwaysOn(true)
.analogVoltageAlwaysOn(true)
.analogPositionAlwaysOn(true)
.analogVoltagePeriodMs(20)
.analogPositionPeriodMs(20)
.analogVelocityPeriodMs(20);
cfg.analogSensor
.positionConversionFactor(conversionFactor)
.velocityConversionFactor(conversionFactor / 60);
}
if (sparkMax instanceof SparkMaxSwerve)
{
((SparkMaxSwerve) sparkMax).updateConfig(cfg);
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
}
}
/**
* Reset the encoder to factory defaults.
*/
@@ -110,12 +162,12 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
if (sparkMax instanceof SparkMaxSwerve)
{
SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
cfg.analogSensor.inverted(true);
cfg.analogSensor.inverted(inverted);
((SparkMaxSwerve) sparkMax).updateConfig(cfg);
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
cfg.analogSensor.inverted(true);
cfg.analogSensor.inverted(inverted);
((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
}
}