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Upgrading to 2025.1.2

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thenetworkgrinch
2025-01-06 15:44:15 +00:00
parent 8050f43fa5
commit 62f8236678
27 changed files with 1083 additions and 305 deletions
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11
swervelib/encoders/CANCoderSwerve.java
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@@ -13,6 +13,7 @@ import com.ctre.phoenix6.configs.CANcoderConfigurator;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.signals.MagnetHealthValue;
import com.ctre.phoenix6.signals.SensorDirectionValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.wpilibj.Alert;
@@ -27,11 +28,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
/**
* Wait time for status frames to show up.
*/
public static double STATUS_TIMEOUT_SECONDS = Milliseconds.of(10).in(Seconds);
/**
* CANCoder with WPILib sendable and support.
*/
public CANcoder encoder;
public static double STATUS_TIMEOUT_SECONDS = Milliseconds.of(10).in(Seconds);
/**
* An {@link Alert} for if the CANCoder magnet field is less than ideal.
*/
@@ -60,6 +57,10 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
* Angular velocity of the {@link CANcoder}.
*/
private final StatusSignal<AngularVelocity> velocity;
/**
* CANCoder with WPILib sendable and support.
*/
public CANcoder encoder;
/**
* {@link CANcoder} Configurator objet for this class.
*/