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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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25
swervelib/simulation/ctre/PhysicsSim.java
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@@ -16,6 +16,8 @@ public class PhysicsSim
/**
* Gets the robot simulator instance.
*
* @return {@link PhysicsSim} instance.
*/
public static PhysicsSim getInstance()
{
@@ -25,7 +27,8 @@ public class PhysicsSim
/* scales a random domain of [0, 2pi] to [min, max] while prioritizing the peaks */
static double random(double min, double max)
{
return (max - min) / 2 * Math.sin(Math.IEEEremainder(Math.random(), 2 * 3.14159)) + (max + min) / 2;
return (max - min) / 2 * Math.sin(Math.IEEEremainder(Math.random(), 2 * 3.14159))
+ (max + min) / 2;
}
static double random(double max)
@@ -53,11 +56,16 @@ public class PhysicsSim
* @param fullVel The maximum motor velocity, in ticks per 100ms
* @param sensorPhase The phase of the TalonSRX sensors
*/
public void addTalonSRX(TalonSRX talon, final double accelToFullTime, final double fullVel, final boolean sensorPhase)
public void addTalonSRX(
TalonSRX talon,
final double accelToFullTime,
final double fullVel,
final boolean sensorPhase)
{
if (talon != null)
{
TalonSRXSimProfile simTalon = new TalonSRXSimProfile(talon, accelToFullTime, fullVel, sensorPhase);
TalonSRXSimProfile simTalon =
new TalonSRXSimProfile(talon, accelToFullTime, fullVel, sensorPhase);
_simProfiles.add(simTalon);
}
}
@@ -82,11 +90,16 @@ public class PhysicsSim
* @param fullVel The maximum motor velocity, in ticks per 100ms
* @param sensorPhase The phase of the TalonFX sensors
*/
public void addTalonFX(TalonFX falcon, final double accelToFullTime, final double fullVel, final boolean sensorPhase)
public void addTalonFX(
TalonFX falcon,
final double accelToFullTime,
final double fullVel,
final boolean sensorPhase)
{
if (falcon != null)
{
TalonFXSimProfile simFalcon = new TalonFXSimProfile(falcon, accelToFullTime, fullVel, sensorPhase);
TalonFXSimProfile simFalcon =
new TalonFXSimProfile(falcon, accelToFullTime, fullVel, sensorPhase);
_simProfiles.add(simFalcon);
}
}
@@ -152,4 +165,4 @@ public class PhysicsSim
return period;
}
}
}
}