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Upgrading to 2025.1.0

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This commit is contained in:
thenetworkgrinch
2024-12-09 23:26:04 +00:00
parent 9fe6551d88
commit 4bc6978a20
35 changed files with 1902 additions and 1122 deletions
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25
swervelib/encoders/CANCoderSwerve.java
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@@ -1,15 +1,20 @@
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.Rotations;
import com.ctre.phoenix6.StatusCode;
import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.CANcoderConfigurator;
import com.ctre.phoenix6.configs.MagnetSensorConfigs;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
import com.ctre.phoenix6.signals.MagnetHealthValue;
import com.ctre.phoenix6.signals.SensorDirectionValue;
import swervelib.telemetry.Alert;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
/**
* Swerve Absolute Encoder for CTRE CANCoders.
@@ -65,21 +70,21 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
magnetFieldLessThanIdeal = new Alert(
"Encoders",
"CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.",
Alert.AlertType.WARNING);
AlertType.kWarning);
readingFaulty = new Alert(
"Encoders",
"CANCoder " + encoder.getDeviceID() + " reading was faulty.",
Alert.AlertType.WARNING);
AlertType.kWarning);
readingIgnored = new Alert(
"Encoders",
"CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.",
Alert.AlertType.WARNING);
AlertType.kWarning);
cannotSetOffset = new Alert(
"Encoders",
"Failure to set CANCoder "
+ encoder.getDeviceID()
+ " Absolute Encoder Offset",
Alert.AlertType.WARNING);
AlertType.kWarning);
}
/**
@@ -112,7 +117,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
MagnetSensorConfigs magnetSensorConfiguration = new MagnetSensorConfigs();
cfg.refresh(magnetSensorConfiguration);
cfg.apply(magnetSensorConfiguration
.withAbsoluteSensorRange(AbsoluteSensorRangeValue.Unsigned_0To1)
.withAbsoluteSensorDiscontinuityPoint(Rotations.of(1))
.withSensorDirection(inverted ? SensorDirectionValue.Clockwise_Positive
: SensorDirectionValue.CounterClockwise_Positive));
}
@@ -139,7 +144,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
readingFaulty.set(false);
}
StatusSignal<Double> angle = encoder.getAbsolutePosition();
StatusSignal<Angle> angle = encoder.getAbsolutePosition();
// 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
@@ -160,7 +165,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
readingIgnored.set(false);
}
return angle.getValue() * 360;
return angle.getValue().in(Degrees);
}
/**
@@ -213,6 +218,6 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
@Override
public double getVelocity()
{
return encoder.getVelocity().getValue() * 360;
return encoder.getVelocity().getValue().in(DegreesPerSecond);
}
}