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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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50
swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
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@@ -1,12 +1,15 @@
package swervelib.encoders;
import com.revrobotics.CANSparkMax;
import com.revrobotics.REVLibError;
import com.revrobotics.SparkAnalogSensor;
import com.revrobotics.SparkAnalogSensor.Mode;
import com.revrobotics.spark.SparkAnalogSensor;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import java.util.function.Supplier;
import swervelib.motors.SparkMaxBrushedMotorSwerve;
import swervelib.motors.SparkMaxSwerve;
import swervelib.motors.SwerveMotor;
import swervelib.telemetry.Alert;
/**
* SparkMax absolute encoder, attached through the data port analog pin.
@@ -14,33 +17,38 @@ import swervelib.telemetry.Alert;
public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
{
/**
* {@link swervelib.motors.SparkMaxSwerve} or {@link swervelib.motors.SparkMaxBrushedMotorSwerve} object.
*/
private final SwerveMotor sparkMax;
/**
* The {@link SparkAnalogSensor} representing the duty cycle encoder attached to the SparkMax analog port.
*/
public SparkAnalogSensor encoder;
public SparkAnalogSensor encoder;
/**
* An {@link Alert} for if there is a failure configuring the encoder.
*/
private Alert failureConfiguring;
private Alert failureConfiguring;
/**
* An {@link Alert} for if the absolute encoder does not support integrated offsets.
*/
private Alert doesNotSupportIntegratedOffsets;
private Alert doesNotSupportIntegratedOffsets;
/**
* Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link CANSparkMax} motor data
* port analog pin.
* Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link SparkMax} motor data port
* analog pin.
*
* @param motor Motor to create the encoder from.
* @param maxVoltage Maximum voltage for analog input reading.
*/
public SparkMaxAnalogEncoderSwerve(SwerveMotor motor, double maxVoltage)
{
if (motor.getMotor() instanceof CANSparkMax)
if (motor.getMotor() instanceof SparkMax)
{
encoder = ((CANSparkMax) motor.getMotor()).getAnalog(Mode.kAbsolute);
encoder.setPositionConversionFactor(360 / maxVoltage);
sparkMax = motor;
encoder = ((SparkMax) motor.getMotor()).getAnalog();
motor.setAbsoluteEncoder(this);
sparkMax.configureIntegratedEncoder(360 / maxVoltage);
} else
{
throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
@@ -48,11 +56,11 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
failureConfiguring = new Alert(
"Encoders",
"Failure configuring SparkMax Analog Encoder",
Alert.AlertType.WARNING_TRACE);
AlertType.kWarning);
doesNotSupportIntegratedOffsets = new Alert(
"Encoders",
"SparkMax Analog Sensors do not support integrated offsets",
Alert.AlertType.WARNING_TRACE);
AlertType.kWarning);
}
@@ -99,7 +107,17 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
@Override
public void configure(boolean inverted)
{
encoder.setInverted(inverted);
if (sparkMax instanceof SparkMaxSwerve)
{
SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
cfg.analogSensor.inverted(true);
((SparkMaxSwerve) sparkMax).updateConfig(cfg);
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
cfg.analogSensor.inverted(true);
((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
}
}
/**