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Added support for Falcons, and the ability to disable the CANCoders

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This commit is contained in:
thenetworkgrinch
2023-02-16 21:21:26 -06:00
parent e8f6ca3659
commit c747645bcc
118 changed files with 2706 additions and 370 deletions
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16
swervelib/SwerveModule.java
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@@ -86,10 +86,13 @@ public class SwerveModule
// Config angle encoders
absoluteEncoder = moduleConfiguration.absoluteEncoder;
absoluteEncoder.factoryDefault();
absoluteEncoder.configure(moduleConfiguration.absoluteEncoderInverted);
angleMotor.configureIntegratedEncoder(moduleConfiguration.getPositionEncoderConversion(false));
angleMotor.setPosition(absoluteEncoder.getAbsolutePosition() - angleOffset);
if (absoluteEncoder != null)
{
absoluteEncoder.factoryDefault();
absoluteEncoder.configure(moduleConfiguration.absoluteEncoderInverted);
angleMotor.configureIntegratedEncoder(moduleConfiguration.getPositionEncoderConversion(false));
angleMotor.setPosition(absoluteEncoder.getAbsolutePosition() - angleOffset);
}
// Config angle motor/controller
angleMotor.configurePIDF(moduleConfiguration.anglePIDF);
@@ -119,7 +122,10 @@ public class SwerveModule
*/
public void synchronizeEncoders()
{
angleMotor.setPosition(absoluteEncoder.getAbsolutePosition() - angleOffset);
if (absoluteEncoder != null)
{
angleMotor.setPosition(absoluteEncoder.getAbsolutePosition() - angleOffset);
}
}
/**