Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-06-21 06:31:40 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added support for CANandCoder

Browse Source
This commit is contained in:
thenetworkgrinch
2023-08-09 15:05:33 -05:00
parent d356dec4d0
commit f88fdfb6cf
4 changed files with 66 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

60
swervelib/encoders/CanAndCoderSwerve.java
View File

@@ -1,61 +1,59 @@
package swervelib.encoders;
import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxAbsoluteEncoder.Type;
import swervelib.motors.SwerveMotor;
import com.reduxrobotics.sensors.canandcoder.CANandcoder;
/**
* SparkMax absolute encoder, attached through the data port.
* HELIUM {@link CANandcoder} from ReduxRobotics absolute encoder, attached through the CAN bus.
*/
public class CanAndCoderSwerve extends SwerveAbsoluteEncoder {
public class CanAndCoderSwerve extends SwerveAbsoluteEncoder
{
/**
* The {@link AbsoluteEncoder} representing the duty cycle encoder attached to
* the SparkMax.
* The {@link CANandcoder} representing the CANandCoder on the CAN bus.
*/
public AbsoluteEncoder encoder;
public CANandcoder encoder;
/**
* Inversion state of the encoder.
*/
private boolean inverted = false;
/**
* Create the {@link AbsoluteEncoder} object as a duty cycle. from the
* {@link CANSparkMax} motor.
* Create the {@link CANandcoder}
*
* @param motor Motor to create the encoder from.
* @param canid The CAN ID whenever the CANandCoder is operating on the CANBus.
*/
public CanAndCoderSwerve(SwerveMotor motor) {
if (motor.getMotor() instanceof CANSparkMax) {
encoder = ((CANSparkMax) motor.getMotor()).getAbsoluteEncoder(Type.kDutyCycle);
encoder.setPositionConversionFactor(360);
encoder.setVelocityConversionFactor(360);
} else {
throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
}
public CanAndCoderSwerve(int canid)
{
encoder = new CANandcoder(canid);
}
/**
* Reset the encoder to factory defaults.
*/
@Override
public void factoryDefault() {
// Do nothing
public void factoryDefault()
{
encoder.resetFactoryDefaults(false);
}
/**
* Clear sticky faults on the encoder.
*/
@Override
public void clearStickyFaults() {
// Do nothing
public void clearStickyFaults()
{
encoder.clearStickyFaults();
}
/**
* Configure the absolute encoder to read from [0, 360) per second.
* Configure the CANandCoder to read from [0, 360) per second.
*
* @param inverted Whether the encoder is inverted.
*/
@Override
public void configure(boolean inverted) {
encoder.setInverted(inverted);
public void configure(boolean inverted)
{
this.inverted = inverted;
}
/**
@@ -64,8 +62,9 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder {
* @return Absolute position in degrees from [0, 360).
*/
@Override
public double getAbsolutePosition() {
return encoder.getPosition();
public double getAbsolutePosition()
{
return (inverted ? -1.0 : 1.0) * encoder.getPosition() * 360;
}
/**
@@ -74,7 +73,8 @@ public class CanAndCoderSwerve extends SwerveAbsoluteEncoder {
* @return Absolute encoder object.
*/
@Override
public Object getAbsoluteEncoder() {
public Object getAbsoluteEncoder()
{
return encoder;
}
}