Made Telemetry Preferences for motors #145
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Made Telemetry Preferences for motors
GalexY727
requested changes
Feb 9, 2024
| @@ -31,6 +32,7 @@ public void configMotors() { | |||
| elevator.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 65535); | |||
| elevator.getEncoder().setPositionConversionFactor(TrapConstants.ELEVATOR_POSITION_CONVERSION_FACTOR); | |||
| elevator.setPID(TrapConstants.TRAP_PID); | |||
| elevator.setTelemetryPreference(TelemetryPreference.NO_ENCODER); | |||
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THe elevator most definitely has an encoder
| @@ -33,6 +33,7 @@ public void configMotor() { | |||
| ShooterConstants.PIVOT_D, | |||
| ShooterConstants.PIVOT_MIN_OUTPUT, | |||
| ShooterConstants.PIVOT_MAX_OUTPUT); | |||
| pivot.setTelemetryPreference(TelemetryPreference.NO_ENCODER); | |||
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The pivot has an absolute encoder on it, not no encoder. WHY DOES NOTHING HAVE ENCODERS ANYMORE
| @@ -30,6 +31,8 @@ public void configMotors() { | |||
| ShooterConstants.SHOOTER_D, | |||
| ShooterConstants.SHOOTER_MIN_OUTPUT, | |||
| ShooterConstants.SHOOTER_MAX_OUTPUT); | |||
| motorLeft.setTelemetryPreference(TelemetryPreference.NO_ENCODER); | |||
| motorRight.setTelemetryPreference(TelemetryPreference.NO_ENCODER); | |||
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THE SHOTOER HAS AN ECNODER WE NEED TO TALK TO IT TO TELL IT MOVE FAST!
GalexY727
requested changes
Feb 17, 2024
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| public void configMotors() { | ||
| rearRight.setTelemetryPreference(TelemetryPreference.NO_ENCODER); | ||
| rearLeft.setTelemetryPreference(TelemetryPreference.NO_ENCODER); | ||
| frontLeft.setTelemetryPreference(TelemetryPreference.NO_ENCODER); | ||
| frontRight.setTelemetryPreference(TelemetryPreference.NO_ENCODER); | ||
| } |
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This shouldn't be here. Configure the motors inside of MAXSwerveModule, not here. Also, we don't want swerve modules to be set to NO_ENCODER
GalexY727
requested changes
Feb 19, 2024
| elevator.getEncoder().setPositionConversionFactor(TrapConstants.ELEVATOR_POSITION_CONVERSION_FACTOR); | ||
| elevator.setPID(TrapConstants.TRAP_PID); | ||
| elevator.setTelemetryPreference(TelemetryPreference.ONLY_ABSOLUTE_ENCODER); |
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| motorLeft.setTelemetryPreference(TelemetryPreference.ONLY_ABSOLUTE_ENCODER); | ||
| motorRight.setTelemetryPreference(TelemetryPreference.ONLY_ABSOLUTE_ENCODER); |
| @@ -38,6 +38,7 @@ | |||
| import frc.robot.util.Constants.FieldConstants; | |||
| import monologue.Logged; | |||
| import monologue.Annotations.Log; | |||
| import frc.robot.util.Neo.TelemetryPreference; | |||
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I imported Telemetry Preferences so the subsystems, then added Telemetry Preferences for the motors in each subsystem that contains a motor. All that needs to be done is testing it in the sim (I can't run sim on the school computer.)