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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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3
swervelib/math/SwerveModuleState2.java
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@@ -36,7 +36,8 @@ public class SwerveModuleState2 extends SwerveModuleState
* @param angle The angle of the module.
* @param omegaRadPerSecond The angular velocity of the module.
*/
public SwerveModuleState2(double speedMetersPerSecond, Rotation2d angle, double omegaRadPerSecond)
public SwerveModuleState2(
double speedMetersPerSecond, Rotation2d angle, double omegaRadPerSecond)
{
this.speedMetersPerSecond = speedMetersPerSecond;
this.angle = angle;