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Removed IEEE remainder for set position

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thenetworkgrinch
2023-02-27 21:45:50 -06:00
parent ecb7af89f5
commit ef58f545df
111 changed files with 565 additions and 366 deletions
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35
swervelib/motors/TalonFXSwerve.java
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@@ -155,6 +155,40 @@ public class TalonFXSwerve extends SwerveMotor
public void configureCANStatusFrames(int CANStatus1)
{
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_1_General, CANStatus1);
}
/**
* Set the CAN status frames.
*
* @param CANStatus1 Applied Motor Output, Fault Information, Limit Switch Information
* @param CANStatus2 Selected Sensor Position (PID 0), Selected Sensor Velocity (PID 0), Brushed Supply Current
* Measurement, Sticky Fault Information
* @param CANStatus3 Quadrature Information
* @param CANStatus4 Analog Input, Supply Battery Voltage, Controller Temperature
* @param CANStatus8 Pulse Width Information
* @param CANStatus10 Motion Profiling/Motion Magic Information
* @param CANStatus12 Selected Sensor Position (Aux PID 1), Selected Sensor Velocity (Aux PID 1)
* @param CANStatus13 PID0 (Primary PID) Information
* @param CANStatus14 PID1 (Auxiliary PID) Information
* @param CANStatus21 Integrated Sensor Position (Talon FX), Integrated Sensor Velocity (Talon FX)
* @param CANStatusCurrent Brushless Supply Current Measurement, Brushless Stator Current Measurement
*/
public void configureCANStatusFrames(int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4, int CANStatus8,
int CANStatus10, int CANStatus12, int CANStatus13, int CANStatus14,
int CANStatus21, int CANStatusCurrent)
{
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_1_General, CANStatus1);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, CANStatus2);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_3_Quadrature, CANStatus3);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_4_AinTempVbat, CANStatus4);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_8_PulseWidth, CANStatus8);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_10_Targets, CANStatus10);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_12_Feedback1, CANStatus12);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_13_Base_PIDF0, CANStatus13);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_14_Turn_PIDF1, CANStatus14);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_21_FeedbackIntegrated, CANStatus21);
motor.setStatusFramePeriod(StatusFrameEnhanced.Status_Brushless_Current, CANStatusCurrent);
// TODO: Configure Status Frame 2 thru 21 if necessary
// https://v5.docs.ctr-electronics.com/en/stable/ch18_CommonAPI.html#setting-status-frame-periods
}
@@ -346,6 +380,7 @@ public class TalonFXSwerve extends SwerveMotor
{
if (!absoluteEncoder && !SwerveDriveTelemetry.isSimulation)
{
position = position < 0 ? (position % 360) + 360 : position; // Fixes initial 360 movement.
motor.setSelectedSensorPosition(position / positionConversionFactor, 0, 250);
}
}