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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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78
swervelib/encoders/SparkMaxEncoderSwerve.java
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@@ -4,6 +4,7 @@ import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.REVLibError;
import com.revrobotics.spark.SparkAbsoluteEncoder;
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;
@@ -46,7 +47,7 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
{
failureConfiguring = new Alert(
"Encoders",
"Failure configuring SparkMax Analog Encoder",
"Failure configuring SparkMax Absolute Encoder",
AlertType.kWarning);
offsetFailure = new Alert(
"Encoders",
@@ -56,14 +57,22 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
{
sparkMax = motor;
encoder = ((SparkMax) motor.getMotor()).getAbsoluteEncoder();
motor.setAbsoluteEncoder(this);
motor.configureIntegratedEncoder(conversionFactor);
setConversionFactor(conversionFactor);
} else
{
throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
}
}
@Override
public void close()
{
// SPARK MAX 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();
}
/**
* Run the configuration until it succeeds or times out.
*
@@ -110,16 +119,62 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
if (sparkMax instanceof SparkMaxSwerve)
{
SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
cfg.analogSensor.inverted(true);
cfg.absoluteEncoder.inverted(inverted);
((SparkMaxSwerve) sparkMax).updateConfig(cfg);
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
cfg.analogSensor.inverted(true);
cfg.absoluteEncoder.inverted(inverted);
((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
}
}
/**
* Set the conversion factor of the {@link SparkMaxEncoderSwerve}.
*
* @param conversionFactor Position conversion factor from ticks to unit.
*/
public void setConversionFactor(double conversionFactor)
{
// By default the SparkMax relays the info from the duty cycle encoder to the roborio every 200ms on CAN frame 5
// This needs to be set to 20ms or under to properly update the swerve module position for odometry
// Configuration taken from 3005, the team who helped develop the Max Swerve:
// https://github.com/FRC3005/Charged-Up-2023-Public/blob/2b6a7c695e23edebafa27a76cf639a00f6e8a3a6/src/main/java/frc/robot/subsystems/drive/REVSwerveModule.java#L227-L244
// Some of the frames can probably be adjusted to decrease CAN utilization, with 65535 being the max.
// From testing, 20ms on frame 5 sometimes returns the same value while constantly powering the azimuth but 8ms may be overkill,
// with limited testing 19ms did not return the same value while the module was constatntly rotating.
SparkMaxConfig cfg = null;
if (sparkMax instanceof SparkMaxSwerve)
{
cfg = ((SparkMaxSwerve) sparkMax).getConfig();
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
}
if (cfg != null)
{
cfg.signals
.absoluteEncoderPositionAlwaysOn(true)
.absoluteEncoderPositionPeriodMs(20);
cfg.absoluteEncoder
.positionConversionFactor(conversionFactor)
.velocityConversionFactor(conversionFactor / 60);
}
if (sparkMax instanceof SparkMaxSwerve)
{
((SparkMaxSwerve) sparkMax).updateConfig(cfg);
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
}
}
/**
* Get the absolute position of the encoder.
*
@@ -151,19 +206,6 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
@Override
public boolean setAbsoluteEncoderOffset(double offset)
{
if (sparkMax instanceof SparkMaxSwerve)
{
SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
cfg.absoluteEncoder.zeroOffset(offset);
((SparkMaxSwerve) sparkMax).updateConfig(cfg);
return true;
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
cfg.absoluteEncoder.zeroOffset(offset);
((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
return true;
}
return false;
}