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Updated YAGSL to support CANandEncoders.

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This commit is contained in:
thenetworkgrinch
2023-08-09 13:15:02 -05:00
parent b18491fa9c
commit d356dec4d0
10 changed files with 277 additions and 77 deletions
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26
swervelib/SwerveModule.java
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@@ -38,23 +38,28 @@ public class SwerveModule
/**
* Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
*/
public int moduleNumber;
public int moduleNumber;
/**
* Feedforward for drive motor during closed loop control.
*/
public SimpleMotorFeedforward feedforward;
public SimpleMotorFeedforward feedforward;
/**
* Last swerve module state applied.
*/
public SwerveModuleState2 lastState;
public SwerveModuleState2 lastState;
/**
* Enable {@link SwerveModuleState2} optimizations so the angle is reversed and speed is reversed to ensure the module
* never turns more than 90deg.
*/
public boolean moduleStateOptimization = true;
/**
* Simulated swerve module.
*/
private SwerveModuleSimulation simModule;
private SwerveModuleSimulation simModule;
/**
* Encoder synchronization queued.
*/
private boolean synchronizeEncoderQueued = false;
private boolean synchronizeEncoderQueued = false;
/**
* Construct the swerve module and initialize the swerve module motors and absolute encoder.
@@ -144,10 +149,13 @@ public class SwerveModule
*/
public void setDesiredState(SwerveModuleState2 desiredState, boolean isOpenLoop, boolean force)
{
desiredState = SwerveModuleState2.optimize(desiredState,
Rotation2d.fromDegrees(getAbsolutePosition()),
lastState,
configuration.moduleSteerFFCL);
if (moduleStateOptimization)
{
desiredState = SwerveModuleState2.optimize(desiredState,
Rotation2d.fromDegrees(getAbsolutePosition()),
lastState,
configuration.moduleSteerFFCL);
}
if (isOpenLoop)
{