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

2026-06-19 06:21:40 +00:00 · 2023-02-20 20:59:31 -06:00
parent 8f9ffdf031
commit dd28a657b2
43 changed files with 570 additions and 363 deletions
--- a/swervelib/parser/SwerveDriveConfiguration.java
+++ b/swervelib/parser/SwerveDriveConfiguration.java
@@ -43,8 +43,11 @@ public class SwerveDriveConfiguration
   * @param maxSpeed      Max speed of the robot in meters per second.
   * @param invertedIMU   Invert the IMU.
   */
-  public SwerveDriveConfiguration(SwerveModuleConfiguration[] moduleConfigs, SwerveIMU swerveIMU, double maxSpeed,
-                                  boolean invertedIMU)
+  public SwerveDriveConfiguration(
+      SwerveModuleConfiguration[] moduleConfigs,
+      SwerveIMU swerveIMU,
+      double maxSpeed,
+      boolean invertedIMU)
  {
    this.moduleCount = moduleConfigs.length;
    this.imu = swerveIMU;