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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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This commit is contained in:
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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26
swervelib/motors/SparkMaxSwerve.java
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@@ -38,7 +38,6 @@ public class SparkMaxSwerve extends SwerveMotor
*/
private boolean factoryDefaultOccurred = false;
/**
* Initialize the swerve motor.
*
@@ -54,7 +53,8 @@ public class SparkMaxSwerve extends SwerveMotor
encoder = motor.getEncoder();
pid = motor.getPIDController();
pid.setFeedbackDevice(encoder); // Configure feedback of the PID controller as the integrated encoder.
pid.setFeedbackDevice(
encoder); // Configure feedback of the PID controller as the integrated encoder.
motor.setCANTimeout(0); // Spin off configurations in a different thread.
}
@@ -179,12 +179,17 @@ public class SparkMaxSwerve extends SwerveMotor
encoder.setPositionConversionFactor(positionConversionFactor);
encoder.setVelocityConversionFactor(positionConversionFactor / 60);
// Taken from https://github.com/frc3512/SwerveBot-2022/blob/9d31afd05df6c630d5acb4ec2cf5d734c9093bf8/src/main/java/frc/lib/util/CANSparkMaxUtil.java#L67
// Taken from
// https://github.com/frc3512/SwerveBot-2022/blob/9d31afd05df6c630d5acb4ec2cf5d734c9093bf8/src/main/java/frc/lib/util/CANSparkMaxUtil.java#L67
configureCANStatusFrames(10, 20, 20, 500, 500);
} else
{
absoluteEncoder.setPositionConversionFactor(positionConversionFactor);
absoluteEncoder.setVelocityConversionFactor(positionConversionFactor / 60);
if (!isAttachedAbsoluteEncoder())
{
configureCANStatusFrames(10, 20, 20, 500, 500);
}
}
}
@@ -196,7 +201,8 @@ public class SparkMaxSwerve extends SwerveMotor
@Override
public void configurePIDF(PIDFConfig config)
{
int pidSlot = isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
int pidSlot =
isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
pid.setP(config.p, pidSlot);
pid.setI(config.i, pidSlot);
pid.setD(config.d, pidSlot);
@@ -228,7 +234,8 @@ public class SparkMaxSwerve extends SwerveMotor
* @param CANStatus3 Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position
* @param CANStatus4 Alternate Encoder Velocity, Alternate Encoder Position
*/
public void configureCANStatusFrames(int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4)
public void configureCANStatusFrames(
int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4)
{
motor.setPeriodicFramePeriod(PeriodicFrame.kStatus0, CANStatus0);
motor.setPeriodicFramePeriod(PeriodicFrame.kStatus1, CANStatus1);
@@ -290,8 +297,13 @@ public class SparkMaxSwerve extends SwerveMotor
@Override
public void setReference(double setpoint, double feedforward)
{
int pidSlot = isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
pid.setReference(setpoint, isDriveMotor ? ControlType.kVelocity : ControlType.kPosition, pidSlot, feedforward);
int pidSlot =
isDriveMotor ? SparkMAX_slotIdx.Velocity.ordinal() : SparkMAX_slotIdx.Position.ordinal();
pid.setReference(
setpoint,
isDriveMotor ? ControlType.kVelocity : ControlType.kPosition,
pidSlot,
feedforward);
}
/**