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Update to 2024.4.8

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This commit is contained in:
thenetworkgrinch
2024-02-02 18:55:29 -06:00
parent 2dcfaac857
commit c478a800b2
118 changed files with 2009 additions and 607 deletions
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21
swervelib/encoders/CANCoderSwerve.java
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@@ -17,26 +17,30 @@ import swervelib.telemetry.Alert;
public class CANCoderSwerve extends SwerveAbsoluteEncoder
{
/**
* Wait time for status frames to show up.
*/
private final double STATUS_TIMEOUT_SECONDS = 0.02;
/**
* CANCoder with WPILib sendable and support.
*/
public CANcoder encoder;
public CANcoder encoder;
/**
* An {@link Alert} for if the CANCoder magnet field is less than ideal.
*/
private Alert magnetFieldLessThanIdeal;
private Alert magnetFieldLessThanIdeal;
/**
* An {@link Alert} for if the CANCoder reading is faulty.
*/
private Alert readingFaulty;
private Alert readingFaulty;
/**
* An {@link Alert} for if the CANCoder reading is faulty and the reading is ignored.
*/
private Alert readingIgnored;
private Alert readingIgnored;
/**
* An {@link Alert} for if the absolute encoder offset cannot be set.
*/
private Alert cannotSetOffset;
private Alert cannotSetOffset;
/**
* Initialize the CANCoder on the standard CANBus.
@@ -45,7 +49,8 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
*/
public CANCoderSwerve(int id)
{
encoder = new CANcoder(id);
// Empty string uses the default canbus for the system
this(id, "");
}
/**
@@ -134,7 +139,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
readingFaulty.set(false);
}
StatusSignal<Double> angle = encoder.getAbsolutePosition().refresh();
StatusSignal<Double> angle = encoder.getAbsolutePosition();
// Taken from democat's library.
// Source: https://github.com/democat3457/swerve-lib/blob/7c03126b8c22f23a501b2c2742f9d173a5bcbc40/src/main/java/com/swervedrivespecialties/swervelib/ctre/CanCoderFactoryBuilder.java#L51-L74
@@ -144,7 +149,7 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
{
break;
}
angle = angle.waitForUpdate(0.01);
angle = angle.waitForUpdate(STATUS_TIMEOUT_SECONDS);
}
if (angle.getStatus() != StatusCode.OK)
{