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Addressing issue #7 by reading CANCoder values until successful with 10ms delay between readings. Fall back to reading relative encoder.

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thenetworkgrinch
2023-02-20 20:59:31 -06:00
parent 8f9ffdf031
commit dd28a657b2
43 changed files with 570 additions and 363 deletions
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48
swervelib/encoders/CANCoderSwerve.java
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@@ -1,5 +1,6 @@
package swervelib.encoders;
import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.sensors.AbsoluteSensorRange;
import com.ctre.phoenix.sensors.CANCoderConfiguration;
import com.ctre.phoenix.sensors.MagnetFieldStrength;
@@ -69,24 +70,61 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
canCoderConfiguration.absoluteSensorRange = AbsoluteSensorRange.Unsigned_0_to_360;
canCoderConfiguration.sensorDirection = inverted;
canCoderConfiguration.initializationStrategy = SensorInitializationStrategy.BootToAbsolutePosition;
canCoderConfiguration.initializationStrategy =
SensorInitializationStrategy.BootToAbsolutePosition;
canCoderConfiguration.sensorTimeBase = SensorTimeBase.PerSecond;
encoder.configAllSettings(canCoderConfiguration);
}
/**
* Get the absolute position of the encoder.
* Get the absolute position of the encoder. Sets {@link SwerveAbsoluteEncoder#readingError} on erroneous readings.
*
* @return Absolute position in degrees from [0, 360).
*/
@Override
public double getAbsolutePosition()
{
if (encoder.getMagnetFieldStrength() != MagnetFieldStrength.Good_GreenLED)
readingError = false;
MagnetFieldStrength strength = encoder.getMagnetFieldStrength();
if (strength != MagnetFieldStrength.Good_GreenLED)
{
DriverStation.reportWarning("CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.\n", false);
DriverStation.reportWarning(
"CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.\n", false);
}
return encoder.getAbsolutePosition();
if (strength == MagnetFieldStrength.Invalid_Unknown || strength == MagnetFieldStrength.BadRange_RedLED)
{
readingError = true;
return 0;
}
double angle = encoder.getAbsolutePosition();
// Taken from democat's library.
// Source: https://github.com/democat3457/swerve-lib/blob/7c03126b8c22f23a501b2c2742f9d173a5bcbc40/src/main/java/com/swervedrivespecialties/swervelib/ctre/CanCoderFactoryBuilder.java#L51-L74
ErrorCode code = encoder.getLastError();
int ATTEMPTS = 3;
for (int i = 0; i < ATTEMPTS; i++)
{
if (code == ErrorCode.OK)
{
break;
}
try
{
Thread.sleep(10);
} catch (InterruptedException e)
{
}
angle = encoder.getAbsolutePosition();
code = encoder.getLastError();
}
if (code != ErrorCode.OK)
{
readingError = true;
DriverStation.reportWarning("CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.\n", false);
}
return angle;
}
/**