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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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7
wpilibc/src/main/native/cpp/ExpansionHubMotor.cpp
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@@ -21,10 +21,11 @@ ExpansionHubMotor::ExpansionHubMotor(int usbId, int channel)
m_velocityPidConstants{usbId, channel, true},
m_positionPidConstants{usbId, channel, false} {
WPILIB_AssertMessage(channel >= 0 && channel < ExpansionHub::NumMotorPorts,
"ExHub Motor Channel {} out of range", channel);
"ExHub Motor Channel {} out of range", channel);
if (!m_hub.CheckAndReserveMotor(channel)) {
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}", channel);
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}",
channel);
}
m_hub.ReportUsage(fmt::format("ExHubServo[{}]", channel), "ExHubServo");
@@ -154,7 +155,7 @@ ExpansionHubPidConstants& ExpansionHubMotor::GetPositionPidConstants() {
void ExpansionHubMotor::Follow(const ExpansionHubMotor& leader) {
if (m_hub.GetUsbId() != leader.m_hub.GetUsbId()) {
throw WPILIB_MakeError(err::InvalidParameter,
"Cannot follow motor on different hub");
"Cannot follow motor on different hub");
}
m_modePublisher.Set(kFollowerMode);
m_setpointPublisher.Set(leader.m_channel);