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Updated support for Talons

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thenetworkgrinch
2023-02-13 17:21:24 -06:00
parent e8d248b68a
commit 8f28956426
126 changed files with 5706 additions and 190 deletions
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36
swervelib/parser/json/DeviceJson.java
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@@ -1,14 +1,16 @@
package frc.robot.subsystems.swervedrive2.swervelib.parser.json;
package swervelib.parser.json;
import frc.robot.subsystems.swervedrive2.swervelib.encoders.CANCoderSwerve;
import frc.robot.subsystems.swervedrive2.swervelib.encoders.SparkMaxEncoderSwerve;
import frc.robot.subsystems.swervedrive2.swervelib.encoders.SwerveAbsoluteEncoder;
import frc.robot.subsystems.swervedrive2.swervelib.imu.NavXSwerve;
import frc.robot.subsystems.swervedrive2.swervelib.imu.Pigeon2Swerve;
import frc.robot.subsystems.swervedrive2.swervelib.imu.PigeonSwerve;
import frc.robot.subsystems.swervedrive2.swervelib.imu.SwerveIMU;
import frc.robot.subsystems.swervedrive2.swervelib.motors.SparkMaxSwerve;
import frc.robot.subsystems.swervedrive2.swervelib.motors.SwerveMotor;
import swervelib.encoders.CANCoderSwerve;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.imu.NavXSwerve;
import swervelib.imu.Pigeon2Swerve;
import swervelib.imu.PigeonSwerve;
import swervelib.imu.SwerveIMU;
import swervelib.motors.SparkMaxSwerve;
import swervelib.motors.SwerveMotor;
import swervelib.motors.TalonFXSwerve;
import swervelib.motors.TalonSRXSwerve;
/**
* Device JSON parsed class. Used to access the JSON data.
@@ -76,11 +78,19 @@ public class DeviceJson
*/
public SwerveMotor createMotor(boolean isDriveMotor)
{
if (type.equals("sparkmax"))
switch (type)
{
return new SparkMaxSwerve(id, isDriveMotor);
case "sparkmax":
return new SparkMaxSwerve(id, isDriveMotor);
case "falcon":
case "talonfx":
return new TalonFXSwerve(id, canbus != null ? canbus : "", isDriveMotor);
case "talonsrx":
return new TalonSRXSwerve(id, isDriveMotor);
default:
throw new RuntimeException(type + " is not a recognized absolute encoder type.");
}
throw new RuntimeException(type + " is not a recognized absolute encoder type.");
}
/**