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Updated swervelib telemetry configurability. Reliable gyroscope modulo

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thenetworkgrinch
2023-02-24 19:11:05 -06:00
parent 9b699291e8
commit 69edd17103
121 changed files with 2280 additions and 501 deletions
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26
swervelib/parser/json/DeviceJson.java
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@@ -1,5 +1,6 @@
package swervelib.parser.json;
import com.revrobotics.SparkMaxRelativeEncoder.Type;
import edu.wpi.first.wpilibj.SerialPort.Port;
import swervelib.encoders.AnalogAbsoluteEncoderSwerve;
import swervelib.encoders.CANCoderSwerve;
@@ -13,6 +14,7 @@ import swervelib.imu.NavXSwerve;
import swervelib.imu.Pigeon2Swerve;
import swervelib.imu.PigeonSwerve;
import swervelib.imu.SwerveIMU;
import swervelib.motors.SparkMaxBrushedMotorSwerve;
import swervelib.motors.SparkMaxSwerve;
import swervelib.motors.SwerveMotor;
import swervelib.motors.TalonFXSwerve;
@@ -105,6 +107,30 @@ public class DeviceJson
{
switch (type)
{
case "sparkmax_brushed":
switch (canbus)
{
case "greyhill_63r256":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, false);
case "srx_mag_encoder":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, false);
case "throughbore":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 8192, false);
case "throughbore_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 8192, true);
case "greyhill_63r256_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 1024, true);
case "srx_mag_encoder_dataport":
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kQuadrature, 4096, true);
default:
if (isDriveMotor)
{
throw new RuntimeException("Spark MAX " + id + " MUST have a encoder attached to the motor controller.");
}
// We are creating a motor for an angle motor which will use the absolute encoder attached to the data port.
return new SparkMaxBrushedMotorSwerve(id, isDriveMotor, Type.kNoSensor, 0, false);
}
case "neo":
case "sparkmax":
return new SparkMaxSwerve(id, isDriveMotor);
case "falcon":