Switch all Encoders and Sparks to SimDevices #10
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
brettle
requested changes
Dec 27, 2020
Comment on lines
15
to
20
| public MockedSparkEncoder(String name) { | ||
| this.name = name; | ||
| // Match motor on CAN 0 with channels [0, 1], CAN 1 to channels [2, 3], etc. | ||
| // Probably not the best way to do it but it works | ||
| encoder = new EncoderSim(id); | ||
| webotsEncoder = Simulation.getRobot().getMotor(name).getPositionSensor(); | ||
| encoder = new SimDeviceSim(name); | ||
| webotsEncoder = Simulation.getRobot().getMotor(name.substring(11)).getPositionSensor(); |
There was a problem hiding this comment.
Parse out the motor name and CAN ID in SimRegisterer.java (where you are already interpreting the device string), and pass them into the constructor. That should make it clearer how the device name is formatted. Please also add a comment with the parsing, that makes it clear what the expected format is.
brettle
approved these changes
Dec 27, 2020
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Fixes #8.