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encoder configs

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This commit is contained in:
Abhishrek05
2024-04-04 17:55:16 -06:00
parent cc7baea353
commit 3ddb1aca3c
1 changed files with 25 additions and 12 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+25 -12
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@@ -9,6 +9,11 @@ import javax.swing.text.StyleContext.SmallAttributeSet;
import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.sensors.CANCoderConfiguration;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.configs.FeedbackConfigs;
import com.ctre.phoenix6.configs.MagnetSensorConfigs;
// import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
// import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
// import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
@@ -18,6 +23,7 @@ import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
@@ -52,24 +58,31 @@ public class SwerveModule extends SubsystemBase {
.withSlot0(new Slot0Configs()
.withKP(swerveGains.kP)
.withKI(swerveGains.kI)
.withKD(swerveGains.kD)
)
angleConfig.slot0.kP = swerveGains.kP;
angleConfig.slot0.kI = swerveGains.kI;
angleConfig.slot0.kD = swerveGains.kD;
.withKD(swerveGains.kD))
.withFeedback(new FeedbackConfigs()
.withFeedbackRemoteSensorID(encoder.getDeviceID())
.withFeedbackSensorSource(FeedbackSensorSourceValue.RemoteCANcoder));
// angleConfig.slot0.kP = swerveGains.kP;
// angleConfig.slot0.kI = swerveGains.kI;
// angleConfig.slot0.kD = swerveGains.kD;
// use the CANcoder as the remote sensor for the primary TalonFX PID
// // use the CANcoder as the remote sensor for the primary TalonFX PID
new Slot0Configs().
// new Slot0Configs().
angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.configAllSettings(angleConfig);
// angleConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
// angleConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
// angleConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.getConfigurator().apply(cfg);
// angleMotor.configAllSettings(angleConfig);
//encoder.configSensorInitializationStrategy(SensorInitializationStrategy.BootToAbsolutePosition);
CANcoderConfiguration coder_cfg = new CANcoderConfiguration()
.withMagnetSensor(new MagnetSensorConfigs()
.withMagnetOffset(offset));
encoder.getConfigurator().apply(coder_cfg);
reset(0);
encoder.configMagnetOffset(offset);
// encoder.configMagnetOffset(offset);
driveMotor.
driveMotor.setSelectedSensorPosition(0);
driveMotor.config_kP(0, 0.2);