Phoenix6 #49
Phoenix6 #49
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| @@ -35,26 +33,6 @@ class LedConstants { | |||
| MOVEMENT(Blinkin.BlinkinLedMode.FIXED_STROBE_WHITE) | |||
| } | |||
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I deleted this cause according to phoenix6 migration guide candle support hasn't been added yet
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| private val isConnected = pigeon2.lastError.equals(ErrorCode.OK) |
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I couldn't find an equivalent to this in pigeon2 code, im not sure if the .upTime attribute is the write way to check if the pigeon is connected
| DrivetrainConstants.DRIVE_STATOR_CURRENT_LIMIT.inAmperes | ||
| driveConfiguration.statorCurrLimit.triggerThresholdCurrent = |
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i didn't see any time or trigger thresholds for stator current? is this stator current limit stuff important since it isn't enabled
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| inputs.drivePosition = driveSensor.position | ||
| inputs.steeringPosition = steeringSensor.position | ||
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| inputs.driveVelocity = driveSensor.velocity | ||
| inputs.steeringVelocity = steeringSensor.velocity | ||
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| inputs.driveTemp = driveFalcon.temperature.celsius | ||
| inputs.steeringTemp = steeringFalcon.temperature.celsius | ||
| // processor temp is also something we may want to log ? |
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phoenix6 has temp for both device and processor, do we only care about device?
| } | ||
| steeringFalcon.configurator.apply(motorOutputConfig) | ||
| // motor output configs might overwrite invert? | ||
| steeringFalcon.inverted = true |
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motorOutputConfig also controls the invert so I added this incase it gets overrided from the previous line, even if it doesn't this couldn't hurt right?
| @@ -178,19 +178,19 @@ class Falcon500( | |||
| ) : Motor<Falcon>() { | |||
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| override val appliedVoltage: ElectricalPotential | |||
| get() = falcon500.motorOutputVoltage.volts | |||
| get() = (falcon500.get() * RobotController.getBatteryVoltage()).volts | |||
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I was gonna use supply voltage for this but in phoenix6 code they use battery voltage to scale percent output into volts
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