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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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58
swervelib/parser/SwerveParser.java
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@@ -45,7 +45,6 @@ public class SwerveParser
*/
public static ModuleJson[] moduleJsons;
/**
* Construct a swerve parser. Will throw an error if there is a missing file.
*
@@ -55,13 +54,22 @@ public class SwerveParser
public SwerveParser(File directory) throws IOException
{
checkDirectory(directory);
swerveDriveJson = new ObjectMapper().readValue(new File(directory, "swervedrive.json"), SwerveDriveJson.class);
controllerPropertiesJson = new ObjectMapper().readValue(new File(directory, "controllerproperties.json"),
ControllerPropertiesJson.class);
pidfPropertiesJson = new ObjectMapper().readValue(new File(directory, "modules/pidfproperties.json"),
PIDFPropertiesJson.class);
physicalPropertiesJson = new ObjectMapper().readValue(new File(directory, "modules/physicalproperties.json"),
PhysicalPropertiesJson.class);
swerveDriveJson =
new ObjectMapper()
.readValue(new File(directory, "swervedrive.json"), SwerveDriveJson.class);
controllerPropertiesJson =
new ObjectMapper()
.readValue(
new File(directory, "controllerproperties.json"), ControllerPropertiesJson.class);
pidfPropertiesJson =
new ObjectMapper()
.readValue(
new File(directory, "modules/pidfproperties.json"), PIDFPropertiesJson.class);
physicalPropertiesJson =
new ObjectMapper()
.readValue(
new File(directory, "modules/physicalproperties.json"),
PhysicalPropertiesJson.class);
moduleJsons = new ModuleJson[swerveDriveJson.modules.length];
for (int i = 0; i < moduleJsons.length; i++)
{
@@ -79,8 +87,8 @@ public class SwerveParser
* @param driveConfiguration {@link SwerveDriveConfiguration} to pull from.
* @return {@link SwerveModuleConfiguration} based on the file.
*/
public static SwerveModule getModuleConfigurationByName(String name,
SwerveDriveConfiguration driveConfiguration)
public static SwerveModule getModuleConfigurationByName(
String name, SwerveDriveConfiguration driveConfiguration)
{
return driveConfiguration.modules[moduleConfigs.get(name + ".json")];
}
@@ -123,22 +131,28 @@ public class SwerveParser
*/
public SwerveDrive createSwerveDrive()
{
double maxSpeedMPS = Units.feetToMeters(swerveDriveJson.maxSpeed);
SwerveModuleConfiguration[] moduleConfigurations = new SwerveModuleConfiguration[moduleJsons.length];
double maxSpeedMPS = Units.feetToMeters(swerveDriveJson.maxSpeed);
SwerveModuleConfiguration[] moduleConfigurations =
new SwerveModuleConfiguration[moduleJsons.length];
for (int i = 0; i < moduleConfigurations.length; i++)
{
ModuleJson module = moduleJsons[i];
moduleConfigurations[i] = module.createModuleConfiguration(pidfPropertiesJson.angle, pidfPropertiesJson.drive,
maxSpeedMPS,
physicalPropertiesJson.createPhysicalProperties(
swerveDriveJson.optimalVoltage));
moduleConfigurations[i] =
module.createModuleConfiguration(
pidfPropertiesJson.angle,
pidfPropertiesJson.drive,
maxSpeedMPS,
physicalPropertiesJson.createPhysicalProperties(swerveDriveJson.optimalVoltage));
}
SwerveDriveConfiguration swerveDriveConfiguration = new SwerveDriveConfiguration(moduleConfigurations,
swerveDriveJson.imu.createIMU(),
maxSpeedMPS,
swerveDriveJson.invertedIMU);
SwerveDriveConfiguration swerveDriveConfiguration =
new SwerveDriveConfiguration(
moduleConfigurations,
swerveDriveJson.imu.createIMU(),
maxSpeedMPS,
swerveDriveJson.invertedIMU);
return new SwerveDrive(swerveDriveConfiguration,
controllerPropertiesJson.createControllerConfiguration(swerveDriveConfiguration));
return new SwerveDrive(
swerveDriveConfiguration,
controllerPropertiesJson.createControllerConfiguration(swerveDriveConfiguration));
}
}