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Update to 2024.5.0.3

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This commit is contained in:
thenetworkgrinch
2024-08-24 17:27:03 -05:00
parent 89e4163951
commit 44af2d1978
131 changed files with 705 additions and 416 deletions
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10
swervelib/motors/SparkMaxSwerve.java
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@@ -192,10 +192,16 @@ public class SparkMaxSwerve extends SwerveMotor
@Override
public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
{
if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
if (encoder == null)
{
absoluteEncoder = null;
configureSparkMax(() -> pid.setFeedbackDevice(this.encoder));
velocity = this.encoder::getVelocity;
position = this.encoder::getPosition;
} else if (encoder.getAbsoluteEncoder() instanceof MotorFeedbackSensor)
{
DriverStation.reportWarning(
"IF possible configure the duty cycle encoder offset in the REV Hardware Client instead of using the" +
"IF possible configure the encoder offset in the REV Hardware Client instead of using the" +
" absoluteEncoderOffset in the Swerve Module JSON!",
false);
absoluteEncoder = encoder;