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Added config messages for inversions, increased number of inversion r…
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…etries from 10 to 50, changed config messages to show whether the intake or launcher is being configured.
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@NottheIRS
NottheIRS committed Mar 15, 2024
1 parent b86d1de commit 7cd4568
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Showing 4 changed files with 142 additions and 53 deletions.
9 changes: 9 additions & 0 deletions src/main/cpp/NeoDriveMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,15 @@ void NeoDriveMotor::Configure(SwerveDriveMotorConfig &config){
successful = true;
}
}

if (successful)
{
std::cout << "Configured NEO_DRIVE_MTR_SET_IDLE_MODE in " << retries << " retries" << std::endl;
}
else
{
std::cout << "Failed to configure NEO_DRIVE_MTR_SET_IDLE_MODE" << std::endl;
}
}

START_RETRYING(NEO_DRIVE_MTR_SET_SMART_CURRENT_LIMIT)
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18 changes: 18 additions & 0 deletions src/main/cpp/NeoTurnMotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,15 @@ void NeoTurnMotor::Configure(SwerveTurnMotorConfig &config){
successful = true;
}
}

if (successful)
{
std::cout << "Configured NEO_TURN_MTR_SET_IDLE_MODE in " << retries << " retries" << std::endl;
}
else
{
std::cout << "Failed to configure NEO_TURN_MTR_SET_IDLE_MODE" << std::endl;
}
}

START_RETRYING(NEO_TURN_PID_SETP)
Expand Down Expand Up @@ -64,6 +73,15 @@ void NeoTurnMotor::Configure(SwerveTurnMotorConfig &config){
successful = true;
}
}

if (successful)
{
std::cout << "Configured NEO_TURN_MTR_SET_INVERTED in " << retries << " retries" << std::endl;
}
else
{
std::cout << "Failed to configure NEO_TURN_MTR_SET_INVERTED" << std::endl;
}
}

START_RETRYING(NEO_TURN_MTR_ENABLE_VOLTAGE_COMPENSATION)
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112 changes: 78 additions & 34 deletions src/main/cpp/subsystems/IntakeHAL.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,37 +3,37 @@

IntakeHAL::IntakeHAL(){

START_RETRYING(LFT_ACT_MTR_RESTORE_FACTORY_DEFAULT)
START_RETRYING(INTAKE_LFT_ACT_MTR_RESTORE_FACTORY_DEFAULT)
m_LFTActMotor.RestoreFactoryDefaults();
END_RETRYING
START_RETRYING(LFT_PVT_MTR_RESTORE_FACTORY_DEFAULT)
START_RETRYING(INTAKE_LFT_PVT_MTR_RESTORE_FACTORY_DEFAULT)
m_LFTPvtMotor.RestoreFactoryDefaults();
END_RETRYING
START_RETRYING(RGT_ACT_MTR_RESTORE_FACTORY_DEFAULT)
START_RETRYING(INTAKE_RGT_ACT_MTR_RESTORE_FACTORY_DEFAULT)
m_RGTActMotor.RestoreFactoryDefaults();
END_RETRYING
START_RETRYING(RGT_PVT_MTR_RESTORE_FACTORY_DEFAULT)
START_RETRYING(INTAKE_RGT_PVT_MTR_RESTORE_FACTORY_DEFAULT)
m_RGTPvtMotor.RestoreFactoryDefaults();
END_RETRYING

START_RETRYING(LFT_ACT_MTR_SET_CAN_TIMEOUT)
START_RETRYING(INTAKE_LFT_ACT_MTR_SET_CAN_TIMEOUT)
m_LFTActMotor.SetCANTimeout(50);
END_RETRYING
START_RETRYING(LFT_PVT_MTR_SET_CAN_TIMEOUT)
START_RETRYING(INTAKE_LFT_PVT_MTR_SET_CAN_TIMEOUT)
m_LFTPvtMotor.SetCANTimeout(50);
END_RETRYING
START_RETRYING(RGT_ACT_MTR_SET_CAN_TIMEOUT)
START_RETRYING(INTAKE_RGT_ACT_MTR_SET_CAN_TIMEOUT)
m_RGTActMotor.SetCANTimeout(50);
END_RETRYING
START_RETRYING(RGT_PVT_MTR_SET_CAN_TIMEOUT)
START_RETRYING(INTAKE_RGT_PVT_MTR_SET_CAN_TIMEOUT)
m_RGTPvtMotor.SetCANTimeout(50);
END_RETRYING

{
bool successful = false;
int retries = 0;

while (!successful && retries <= 10)
while (!successful && retries <= 50)
{
retries++;
m_RGTActMotor.SetInverted(INVERT_INTAKE_ACT);
Expand All @@ -43,60 +43,68 @@ IntakeHAL::IntakeHAL(){
successful = true;
}
}

if (successful)
{
std::cout << "Configured INTAKE_RGT_ACT_MTR_SET_INVERTED in " << retries << " retries" << std::endl;
}
else
{
std::cout << "Failed to configure INTAKE_RGT_ACT_MTR_SET_INVERTED" << std::endl;
}
}

START_RETRYING(LFT_ACT_MTR_FOLLOW)
START_RETRYING(INTAKE_LFT_ACT_MTR_FOLLOW)
m_LFTActMotor.Follow(m_RGTActMotor, true);
END_RETRYING
START_RETRYING(RGT_PVT_MTR_FOLLOW)

START_RETRYING(INTAKE_RGT_PVT_MTR_FOLLOW)
m_RGTPvtMotor.Follow(m_LFTPvtMotor, false);
END_RETRYING
START_RETRYING(LFT_ACT_MTR_ENABLE_VOLTAGE_COMPENSATION)
START_RETRYING(INTAKE_LFT_ACT_MTR_ENABLE_VOLTAGE_COMPENSATION)
m_LFTActMotor.EnableVoltageCompensation(VOLT_COMP);
END_RETRYING
START_RETRYING(LFT_PVT_MTR_ENABLE_VOLTAGE_COMPENSATION)
START_RETRYING(INTAKE_LFT_PVT_MTR_ENABLE_VOLTAGE_COMPENSATION)
m_LFTPvtMotor.EnableVoltageCompensation(VOLT_COMP);
END_RETRYING
START_RETRYING(RGT_ACT_MTR_ENABLE_VOLTAGE_COMPENSATION)
START_RETRYING(INTAKE_RGT_ACT_MTR_ENABLE_VOLTAGE_COMPENSATION)
m_RGTActMotor.EnableVoltageCompensation(VOLT_COMP);
END_RETRYING
START_RETRYING(RGT_PVT_MTR_ENABLE_VOLTAGE_COMPENSATION)
START_RETRYING(INTAKE_RGT_PVT_MTR_ENABLE_VOLTAGE_COMPENSATION)
m_RGTPvtMotor.EnableVoltageCompensation(VOLT_COMP);
END_RETRYING

START_RETRYING(LFT_PVT_PID_SETP)
START_RETRYING(INTAKE_LFT_PVT_PID_SETP)
m_LFTPvtPID.SetP(INTAKE_P);
END_RETRYING
START_RETRYING(LFT_PVT_PID_SETI)
START_RETRYING(INTAKE_LFT_PVT_PID_SETI)
m_LFTPvtPID.SetI(INTAKE_I);
END_RETRYING
START_RETRYING(LFT_PVT_PID_SETD)
START_RETRYING(INTAKE_LFT_PVT_PID_SETD)
m_LFTPvtPID.SetD(INTAKE_D);
END_RETRYING

START_RETRYING(LFT_ACT_MTR_SET_SMART_CURRENT_LIMIT)
START_RETRYING(INTAKE_LFT_ACT_MTR_SET_SMART_CURRENT_LIMIT)
m_LFTActMotor.SetSmartCurrentLimit(INTAKE_ACT_CURRENT_LIMIT);
END_RETRYING
START_RETRYING(LFT_PVT_MTR_SET_SMART_CURRENT_LIMIT)
START_RETRYING(INTAKE_LFT_PVT_MTR_SET_SMART_CURRENT_LIMIT)
m_LFTPvtMotor.SetSmartCurrentLimit(INTAKE_PVT_CURRENT_LIMIT);
END_RETRYING
START_RETRYING(RGT_ACT_MTR_SET_SMART_CURRENT_LIMIT)
START_RETRYING(INTAKE_RGT_ACT_MTR_SET_SMART_CURRENT_LIMIT)
m_RGTActMotor.SetSmartCurrentLimit(INTAKE_ACT_CURRENT_LIMIT);
END_RETRYING
START_RETRYING(RGT_PVT_MTR_SET_SMART_CURRENT_LIMIT)
START_RETRYING(INTAKE_RGT_PVT_MTR_SET_SMART_CURRENT_LIMIT)
m_RGTPvtMotor.SetSmartCurrentLimit(INTAKE_PVT_CURRENT_LIMIT);
END_RETRYING

START_RETRYING(LFT_PVT_PID_SET_FEEDBACK_DEVICE)
START_RETRYING(INTAKE_LFT_PVT_PID_SET_FEEDBACK_DEVICE)
m_LFTPvtPID.SetFeedbackDevice(m_LFTPvtAbsEncoder);
END_RETRYING

{
bool successful = false;
int retries = 0;

while (!successful && retries <= 10)
while (!successful && retries <= 50)
{
retries++;
m_LFTPvtMotor.SetIdleMode(rev::CANSparkMax::IdleMode::kBrake);
Expand All @@ -106,13 +114,22 @@ IntakeHAL::IntakeHAL(){
successful = true;
}
}

if (successful)
{
std::cout << "Configured INTAKE_LFT_PVT_MTR_SET_IDLE_MODE in " << retries << " retries" << std::endl;
}
else
{
std::cout << "Failed to configure INTAKE_LFT_PVT_MTR_SET_IDLE_MODE" << std::endl;
}
}

{
bool successful = false;
int retries = 0;

while (!successful && retries <= 10)
while (!successful && retries <= 50)
{
retries++;
m_RGTPvtMotor.SetIdleMode(rev::CANSparkMax::IdleMode::kBrake);
Expand All @@ -122,13 +139,22 @@ IntakeHAL::IntakeHAL(){
successful = true;
}
}

if (successful)
{
std::cout << "Configured INTAKE_RGT_PVT_MTR_SET_IDLE_MODE in " << retries << " retries" << std::endl;
}
else
{
std::cout << "Failed to configure INTAKE_RGT_PVT_MTR_SET_IDLE_MODE" << std::endl;
}
}

{
bool successful = false;
int retries = 0;

while (!successful && retries <= 10)
while (!successful && retries <= 50)
{
retries++;
m_LFTPvtAbsEncoder.SetInverted(LFT_PVT_ABS_ENC_INVERTED);
Expand All @@ -138,20 +164,29 @@ IntakeHAL::IntakeHAL(){
successful = true;
}
}

if (successful)
{
std::cout << "Configured INTAKE_LFT_PVT_ABS_ENC_SET_INVERTED in " << retries << " retries" << std::endl;
}
else
{
std::cout << "Failed to configure INTAKE_LFT_PVT_ABS_ENC_SET_INVERTED" << std::endl;
}
}

START_RETRYING(LFT_PVT_ABS_ENC_SET_POSITION_CONVERSION_FACTOR)
START_RETRYING(INTAKE_LFT_PVT_ABS_ENC_SET_POSITION_CONVERSION_FACTOR)
m_LFTPvtAbsEncoder.SetPositionConversionFactor(LFT_PVT_ABS_ENC_CONVERSION_FACTOR);
END_RETRYING
START_RETRYING(LFT_PVT_ABS_ENC_SET_ZERO_OFFSET)
START_RETRYING(INTAKE_LFT_PVT_ABS_ENC_SET_ZERO_OFFSET)
m_LFTPvtAbsEncoder.SetZeroOffset(INTAKE_ZERO_OFFSET);
END_RETRYING

{
bool successful = false;
int retries = 0;

while (!successful && retries <= 10)
while (!successful && retries <= 50)
{
retries++;
m_LFTPvtMotor.SetInverted(LFT_PVT_MTR_INVERTED);
Expand All @@ -161,18 +196,27 @@ IntakeHAL::IntakeHAL(){
successful = true;
}
}

if (successful)
{
std::cout << "Configured INTAKE_LFT_PVT_MTR in " << retries << " retries" << std::endl;
}
else
{
std::cout << "Failed to configure INTAKE_LFT_PVT_MTR" << std::endl;
}
}

START_RETRYING(LFT_ACT_MTR_BURN_FLASH)
START_RETRYING(INTAKE_LFT_ACT_MTR_BURN_FLASH)
m_LFTActMotor.BurnFlash();
END_RETRYING
START_RETRYING(LFT_PVT_MTR_BURN_FLASH)
START_RETRYING(INTAKE_LFT_PVT_MTR_BURN_FLASH)
m_LFTPvtMotor.BurnFlash();
END_RETRYING
START_RETRYING(RGT_ACT_MTR_BURN_FLASH)
START_RETRYING(INTAKE_RGT_ACT_MTR_BURN_FLASH)
m_RGTActMotor.BurnFlash();
END_RETRYING
START_RETRYING(RGT_PVT_MTR_BURN_FLASH)
START_RETRYING(INTAKE_RGT_PVT_MTR_BURN_FLASH)
m_RGTPvtMotor.BurnFlash();
END_RETRYING

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