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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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7
swervelib/parser/json/ModuleJson.java
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@@ -1,11 +1,8 @@
package swervelib.parser.json;
import edu.wpi.first.math.util.Units;
import swervelib.encoders.CANCoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.motors.SwerveMotor;
import swervelib.motors.TalonFXSwerve;
import swervelib.motors.TalonSRXSwerve;
import swervelib.parser.PIDFConfig;
import swervelib.parser.SwerveModuleConfiguration;
import swervelib.parser.SwerveModulePhysicalCharacteristics;
@@ -68,10 +65,6 @@ public class ModuleJson
{
absEncoder = angle.createIntegratedEncoder(angleMotor);
angleMotor.setAbsoluteEncoder(absEncoder);
} else if ((angleMotor instanceof TalonFXSwerve || angleMotor instanceof TalonSRXSwerve) &&
absEncoder instanceof CANCoderSwerve)
{
angleMotor.setAbsoluteEncoder(absEncoder);
}
return new SwerveModuleConfiguration(drive.createMotor(true), angleMotor, absEncoder,