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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/simulation/SwerveModuleSimulation.java
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@@ -73,7 +73,8 @@ public class SwerveModuleSimulation
*/
public SwerveModulePosition getPosition()
{
return new SwerveModulePosition(fakePos, state.angle.plus(new Rotation2d(state.omegaRadPerSecond * dt)));
return new SwerveModulePosition(
fakePos, state.angle.plus(new Rotation2d(state.omegaRadPerSecond * dt)));
}
/**