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Addressing issue #6 by copying CAN status frame optimization from democat's library

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This commit is contained in:
thenetworkgrinch
2023-02-20 21:45:16 -06:00
parent dd28a657b2
commit 78fb79768e
2 changed files with 18 additions and 6 deletions
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4
swervelib/motors/SparkMaxSwerve.java
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@@ -186,10 +186,6 @@ public class SparkMaxSwerve extends SwerveMotor
{
absoluteEncoder.setPositionConversionFactor(positionConversionFactor);
absoluteEncoder.setVelocityConversionFactor(positionConversionFactor / 60);
if (!isAttachedAbsoluteEncoder())
{
configureCANStatusFrames(10, 20, 20, 500, 500);
}
}
}

20
swervelib/motors/TalonFXSwerve.java
View File

@@ -3,6 +3,7 @@ package swervelib.motors;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.DemandType;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.RobotBase;
@@ -137,6 +138,21 @@ public class TalonFXSwerve extends SwerveMotor
public void configureIntegratedEncoder(double positionConversionFactor)
{
this.positionConversionFactor = positionConversionFactor;
// Taken from democat's library.
// https://github.com/democat3457/swerve-lib/blob/7c03126b8c22f23a501b2c2742f9d173a5bcbc40/src/main/java/com/swervedrivespecialties/swervelib/ctre/Falcon500DriveControllerFactoryBuilder.java#L16
configureCANStatusFrames(250);
}
/**
* Set the CAN status frames.
*
* @param CANStatus1 Applied Motor Output, Fault Information, Limit Switch Information
*/
public void configureCANStatusFrames(int CANStatus1)
{
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_1_General, CANStatus1);
// TODO: Configure Status Frame 2 thru 21 if necessary
// https://v5.docs.ctr-electronics.com/en/stable/ch18_CommonAPI.html#setting-status-frame-periods
}
/**
@@ -198,7 +214,7 @@ public class TalonFXSwerve extends SwerveMotor
{
if (configChanged)
{
motor.configAllSettings(configuration);
motor.configAllSettings(configuration, 250);
configChanged = false;
}
}
@@ -337,7 +353,7 @@ public class TalonFXSwerve extends SwerveMotor
{
if (!absoluteEncoder && !RobotBase.isSimulation())
{
motor.setSelectedSensorPosition(convertToNativeSensorUnits(position));
motor.setSelectedSensorPosition(convertToNativeSensorUnits(position), 0, 250);
}
}