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Cache swerve module CANCoder feedback coefficients

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- Add a proper logging system
This commit is contained in:
nathanrsxtn
2022-01-30 00:39:17 -07:00
parent 7e3af39918
commit bb1c58764e
6 changed files with 136 additions and 8 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+3 -2
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@@ -27,13 +27,14 @@ public class SwerveModule extends SubsystemBase {
private static double kEncoderTicksPerRotation = 4096;
private SwerveModuleState state;
private double canCoderFeedbackCoefficient;
/** Creates a new SwerveModule. */
public SwerveModule(WPI_TalonFX driveMotor, WPI_TalonFX angleMotor, CANCoder canCoder, double offset) {
this.driveMotor = driveMotor;
this.angleMotor = angleMotor;
this.canCoder = canCoder;
canCoderFeedbackCoefficient = canCoder.configGetFeedbackCoefficient();
TalonFXConfiguration angleTalonFXConfiguration = new TalonFXConfiguration();
@@ -82,7 +83,7 @@ public class SwerveModule extends SubsystemBase {
// Find the new absolute position of the module based on the difference in rotation
double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation;
// Convert the CANCoder from it's position reading back to ticks
double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient;
double desiredTicks = currentTicks + deltaTicks;
if (!ignoreAngle){
angleMotor.set(TalonFXControlMode.Position, desiredTicks);