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Update fake PWM ports to increment their values by 10 #5

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merged 4 commits into from
Dec 27, 2020
Merged

Update fake PWM ports to increment their values by 10 #5

merged 4 commits into from
Dec 27, 2020

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CoolSpy3
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Fixes #4.

@CoolSpy3 CoolSpy3 requested a review from brettle December 26, 2020 19:31
brettle
brettle requested changes Dec 26, 2020
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Looks like with an expansion board there can be up to 20 regular PWM channels. See:

https://first.wpi.edu/FRC/roborio/release/docs/java/edu/wpi/first/wpilibj/PWMSpeedController.html#%3Cinit%3E(int)

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It looks like EncoderSim caps its input values between 0 and 20 :/

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brettle commented Dec 26, 2020

It looks like EncoderSim caps its input values between 0 and 20 :/

Grumble. Can we use a SimDeviceSim instead?

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It looks like EncoderSim caps its input values between 0 and 20 :/

Grumble. Can we use a SimDeviceSim instead?

I'll look into it.

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This is supplemented by DeepBlueRobotics/DeepBlueSim#10

@CoolSpy3 CoolSpy3 requested a review from brettle December 26, 2020 23:15
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brettle approved these changes Dec 27, 2020
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Nice! Just the one suggestion. If that's all you change, no further approval needed.

src/main/java/frc/robot/lib/sim/MockedSparkEncoder.java Outdated
encoder = new Encoder(2 * id, 2 * id + 1);
encoderSim = EncoderSim.createForIndex(encodersCreated);
encodersCreated++;
device = SimDevice.create("EncoderSim_SparkMax", id);
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Since the other devices don't have "Sim" in their names, I recommend using "CANEncoder_SparkMax".

Side note: Resist the temptation to just use "CANEncoder". My understanding it that technically speaking, two different types of devices can be configure to have the same ID and they will not interfere with each other. Only the combination of device type and CAN ID needs to be unique. So including "_SparkMax" allows use to support that.

@CoolSpy3 CoolSpy3 merged commit fad1cc5 into master Dec 27, 2020
@brettle brettle deleted the fix-pwm-port-numbers branch January 1, 2021 04:25
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Smart motor controllers can conflict with dumb ones
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@CoolSpy3 @brettle