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Updating to 2024.6.0.0

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thenetworkgrinch
2024-10-14 13:22:11 -05:00
parent 689634ab69
commit 8afd8526e9
126 changed files with 1841 additions and 460 deletions
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36
swervelib/SwerveModule.java
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@@ -112,6 +112,14 @@ public class SwerveModule
* Encoder synchronization queued.
*/
private boolean synchronizeEncoderQueued = false;
/**
* Encoder, Absolute encoder synchronization enabled.
*/
private boolean synchronizeEncoderEnabled = false;
/**
* Encoder synchronization deadband in degrees.
*/
private double synchronizeEncoderDeadband = 3;
/**
@@ -242,12 +250,32 @@ public class SwerveModule
*/
public void queueSynchronizeEncoders()
{
if (absoluteEncoder != null)
if (absoluteEncoder != null && synchronizeEncoderEnabled)
{
synchronizeEncoderQueued = true;
}
}
/**
* Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
* @param enabled Enable state
* @param deadband Deadband in degrees, default is 3 degrees.
*/
public void setEncoderAutoSynchronize(boolean enabled, double deadband)
{
synchronizeEncoderEnabled = enabled;
synchronizeEncoderDeadband = deadband;
}
/**
* Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
* @param enabled Enable state
*/
public void setEncoderAutoSynchronize(boolean enabled)
{
synchronizeEncoderEnabled = enabled;
}
/**
* Set the antiJitter functionality, if true the modules will NOT auto center. Pushes the offsets to the angle motor
* controllers as well.
@@ -355,10 +383,12 @@ public class SwerveModule
// Prevent module rotation if angle is the same as the previous angle.
// Synchronize encoders if queued and send in the current position as the value from the absolute encoder.
if (absoluteEncoder != null && synchronizeEncoderQueued)
if (absoluteEncoder != null && synchronizeEncoderQueued && synchronizeEncoderEnabled)
{
double absoluteEncoderPosition = getAbsolutePosition();
angleMotor.setPosition(absoluteEncoderPosition);
if(Math.abs(angleMotor.getPosition() - absoluteEncoderPosition) >= synchronizeEncoderDeadband) {
angleMotor.setPosition(absoluteEncoderPosition);
}
angleMotor.setReference(desiredState.angle.getDegrees(), 0, absoluteEncoderPosition);
synchronizeEncoderQueued = false;
} else