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Upgrading to 2024.7.0

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This commit is contained in:
thenetworkgrinch
2024-11-06 00:10:07 +00:00
parent b8e06f205e
commit 9fe6551d88
14 changed files with 211 additions and 182 deletions
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21
swervelib/SwerveModule.java
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@@ -95,7 +95,7 @@ public class SwerveModule
/**
* Anti-Jitter AKA auto-centering disabled.
*/
private boolean antiJitterEnabled = true;
private boolean antiJitterEnabled = true;
/**
* Last swerve module state applied.
*/
@@ -111,15 +111,15 @@ public class SwerveModule
/**
* Encoder synchronization queued.
*/
private boolean synchronizeEncoderQueued = false;
private boolean synchronizeEncoderQueued = false;
/**
* Encoder, Absolute encoder synchronization enabled.
*/
private boolean synchronizeEncoderEnabled = false;
private boolean synchronizeEncoderEnabled = false;
/**
* Encoder synchronization deadband in degrees.
*/
private double synchronizeEncoderDeadband = 3;
private double synchronizeEncoderDeadband = 3;
/**
@@ -257,8 +257,10 @@ public class SwerveModule
}
/**
* 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
* 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)
@@ -268,7 +270,9 @@ public class SwerveModule
}
/**
* Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
* 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)
@@ -386,7 +390,8 @@ public class SwerveModule
if (absoluteEncoder != null && synchronizeEncoderQueued && synchronizeEncoderEnabled)
{
double absoluteEncoderPosition = getAbsolutePosition();
if(Math.abs(angleMotor.getPosition() - absoluteEncoderPosition) >= synchronizeEncoderDeadband) {
if (Math.abs(angleMotor.getPosition() - absoluteEncoderPosition) >= synchronizeEncoderDeadband)
{
angleMotor.setPosition(absoluteEncoderPosition);
}
angleMotor.setReference(desiredState.angle.getDegrees(), 0, absoluteEncoderPosition);