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Updated swerveparser to allow for remote integrated encoders.

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T Grinch
2023-01-30 20:27:42 +00:00
parent 87b6b249dd
commit f0e6ad12d7
1 changed files with 8 additions and 0 deletions
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8
swervelib/SwerveParser.java
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@@ -7,6 +7,7 @@ import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.util.Units;
@@ -184,6 +185,13 @@ public class SwerveParser
MotorController driveMotor = createMotor(moduleJson.get("Motor").get("Drive")),
steerMotor = createMotor(moduleJson.get("Motor").get("Steer"));
Object encoder = createEncoder(moduleJson.get("AbsoluteEncoder"));
if (encoder == null)
{
if (moduleJson.get("IntegratedAbsoluteEncoder").asBoolean() && (steerMotor instanceof CANSparkMax))
{
encoder = ((CANSparkMax) steerMotor).getAbsoluteEncoder(Type.kDutyCycle);
}
}
SwerveModule<?, ?, ?> module = new SwerveModule<>(driveMotor,
steerMotor,