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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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16
swervelib/motors/SparkMaxSwerve.java
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@@ -43,6 +43,14 @@ public class SparkMaxSwerve extends SwerveMotor
* Factory default already occurred.
*/
private boolean factoryDefaultOccurred = false;
/**
* Supplier for the velocity of the motor controller.
*/
private Supplier<Double> velocity;
/**
* Supplier for the position of the motor controller.
*/
private Supplier<Double> position;
/**
* Initialize the swerve motor.
@@ -62,6 +70,8 @@ public class SparkMaxSwerve extends SwerveMotor
pid.setFeedbackDevice(
encoder); // Configure feedback of the PID controller as the integrated encoder.
velocity = encoder::getVelocity;
position = encoder::getPosition;
// Spin off configurations in a different thread.
// configureSparkMax(() -> motor.setCANTimeout(0)); // Commented out because it prevents feedback.
}
@@ -190,6 +200,8 @@ public class SparkMaxSwerve extends SwerveMotor
false);
absoluteEncoder = encoder;
configureSparkMax(() -> pid.setFeedbackDevice((MotorFeedbackSensor) absoluteEncoder.getAbsoluteEncoder()));
velocity = absoluteEncoder::getVelocity;
position = absoluteEncoder::getAbsolutePosition;
}
return this;
}
@@ -433,7 +445,7 @@ public class SparkMaxSwerve extends SwerveMotor
@Override
public double getVelocity()
{
return absoluteEncoder == null ? encoder.getVelocity() : absoluteEncoder.getVelocity();
return velocity.get();
}
/**
@@ -444,7 +456,7 @@ public class SparkMaxSwerve extends SwerveMotor
@Override
public double getPosition()
{
return absoluteEncoder == null ? encoder.getPosition() : absoluteEncoder.getAbsolutePosition();
return position.get();
}
/**