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Merge pull request #27 from Technologyman00/main

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Display Errors with reading the Absolute Encoders
This commit is contained in:
T Grinch
2023-11-20 21:23:59 -06:00
committed by GitHub
parent 761c6e2ee2 a6b43076f0
commit d0d986f689
2 changed files with 20 additions and 0 deletions
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2
swervelib/SwerveDrive.java
View File

@@ -901,6 +901,8 @@ public class SwerveDrive
"Module[" + module.configuration.name + "] Relative Encoder", module.getRelativePosition());
SmartDashboard.putNumber(
"Module[" + module.configuration.name + "] Absolute Encoder", module.getAbsolutePosition());
SmartDashboard.putNumber(
"Module[" + module.configuration.name + "] Absolute Encoder Read Issue", module.getAbsoluteEncoderReadIssue());
}
if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
{

18
swervelib/SwerveModule.java
View File

@@ -65,6 +65,11 @@ public class SwerveModule
*/
private boolean synchronizeEncoderQueued = false;
/**
* Absolute Encoder Read Issue Dectected.
*/
public boolean absoluteEncoderReadIssue = false;
/**
* Construct the swerve module and initialize the swerve module motors and absolute encoder.
*
@@ -298,13 +303,16 @@ public class SwerveModule
double angle;
if (absoluteEncoder != null)
{
absoluteEncoderReadIssue = false;
angle = absoluteEncoder.getAbsolutePosition() - angleOffset;
if (absoluteEncoder.readingError)
{
absoluteEncoderReadIssue = true;
angle = getRelativePosition();
}
} else
{
absoluteEncoderReadIssue = true;
angle = getRelativePosition();
}
angle %= 360;
@@ -387,4 +395,14 @@ public class SwerveModule
{
return configuration;
}
/*
* Get if the last Absolute Encoder had a read issue.
*
* @return If the last Absolute Encoder had a read issue.
*/
public boolean getAbsoluteEncoderReadIssue()
{
return absoluteEncoderReadIssue;
}
}