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Update to 2025, Add names for StatusCodes, and fix error error

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This commit is contained in:
Michael Mikovsky
2025-01-04 14:20:50 -07:00
parent b7c16b5ca4
commit a014110f06
31 changed files with 750 additions and 863 deletions
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src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -199,7 +199,7 @@ public class Robot extends TimedRobot {
// Errors header
System.out.println(new String(Base64.getDecoder().decode("4paX4paE4paE4paE4paW4paX4paE4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paWIOKWl+KWhOKWhOKWliAg4paX4paE4paE4paWCuKWkOKWjCAgIOKWkOKWjCDilpDilozilpDilowg4paQ4paM4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilpDilowgICAK4paQ4pab4paA4paA4paY4paQ4pab4paA4paa4paW4paQ4pab4paA4paa4paW4paQ4paMIOKWkOKWjOKWkOKWm+KWgOKWmuKWliDilp3iloDilprilpYK4paQ4paZ4paE4paE4paW4paQ4paMIOKWkOKWjOKWkOKWjCDilpDilozilp3ilpriloTilp7ilpjilpDilowg4paQ4paM4paX4paE4paE4pae4paY")));
for(int i=0;i<errors.size(); i++){
System.out.println(errors.get(0));
System.out.println(errors.get(i));
}
}
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+3 -3
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@@ -159,7 +159,7 @@ public class SwerveModule extends Subsystem {
public Rotation2d getAngle() {
// * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees.
// return Rotation2d.fromDegrees(encoder.getAbsolutePosition());
return Rotation2d.fromRotations(encoder.getPosition().getValue());
return Rotation2d.fromRotations(encoder.getPosition().getValue().baseUnitMagnitude());
}
public double getAngularVel() {
@@ -193,8 +193,8 @@ public class SwerveModule extends Subsystem {
*/
public SwerveModuleState getState() {
return new SwerveModuleState(
Units.inchesToMeters(driveMotor.getVelocity().getValue() *
SwerveDriveConstants.Conversions.INCHES_PER_WHEEL_REV *
Units.inchesToMeters(driveMotor.getVelocity().getValue().baseUnitMagnitude() *
SwerveDriveConstants.Conversions.INCHES_PER_WHEEL_REV *
SwerveDriveConstants.Conversions.WHEEL_REV_PER_MOTOR_REV),
getAngle()
);
src/main/java/frc4388/utility/Status.java
+10 -4
View File
@@ -39,6 +39,10 @@ public class Status {
this.reports.add(r);
}
private String printStatusCode(StatusCode status){
return status.getName() + " (" + status.value + ")";
}
public void diagnoseHardwareCTRE(String deviceName, TalonFX motor) {
if (motor.isAlive()) addReport(ReportLevel.INFO, deviceName + " Motor (TalonFX) Alive?: Alive.");
else addReport(ReportLevel.ERROR, deviceName + " Motor (TalonFX) Alive?: Dead!");
@@ -49,8 +53,10 @@ public class Status {
// If its not zero, that means that most likely that it had some communication error, I.e. It actually is powered off or not connected at all.
// TODO: validate that a CANCoder can actually do `EmptyControl`s
StatusCode status = coder.setControl(new EmptyControl());
if (status.value == 0) addReport(ReportLevel.INFO, deviceName + " Cancoder Alive?: Alive.");
else addReport(ReportLevel.ERROR, deviceName + " Cancoder Alive?: Dead!");
if (status.value == 0) addReport(ReportLevel.INFO, deviceName + " Cancoder Alive?: Alive. " + printStatusCode(status));
else addReport(ReportLevel.ERROR, deviceName + " Cancoder Alive?: Dead! " + printStatusCode(status));
// StatusSignal<MagnetHealthValue> -> MagnetHealthValue -> int
int coderMagHealth = coder.getMagnetHealth().getValue().value;
@@ -65,8 +71,8 @@ public class Status {
// If its not zero, that means that most likely that it had some communication error, I.e. It actually is powered off or not connected at all.
// TODO: validate that a Pigeon2 can actually do `EmptyControl`s
StatusCode status = pigeon.setControl(new EmptyControl());
if (status.value == 0) addReport(ReportLevel.INFO, deviceName + " Pigeon2 Alive?: Alive.");
else addReport(ReportLevel.ERROR, deviceName + " Pigeon2 Alive?: Dead!");
if (status.value == 0) addReport(ReportLevel.INFO, deviceName + " Pigeon2 Alive?: Alive. " + printStatusCode(status));
else addReport(ReportLevel.ERROR, deviceName + " Pigeon2 Alive?: Dead! " + printStatusCode(status));
}
public boolean hasReport() {