Merge pull request #35 from wildstang/main

Stu's absolute encoder fixes
wildstang · Jan 16, 2025 · ad48778 · ad48778
2 parents b080806 + c7e8811
commit ad48778
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/src/main/java/org/wildstang/hardware/roborio/outputs/WsSpark.java b/src/main/java/org/wildstang/hardware/roborio/outputs/WsSpark.java
@@ -284,11 +284,12 @@ public void initClosedLoop(double P, double I, double D, double FF){
      * @param FF the feed forward constant
      * @param absEncoder absolute encoder used to provided PID feedback
      */
-    public void initClosedLoop(double P, double I, double D, double FF, SparkAbsoluteEncoder absEncoder, boolean isEncoderFlipped){
+    public void initClosedLoop(double P, double I, double D, double FF, boolean isEncoderFlipped){
         config.closedLoop.pidf(P, I, D, FF, ClosedLoopSlot.kSlot0);
         absEncoderConfig.positionConversionFactor(360.0);
         absEncoderConfig.velocityConversionFactor(360.0/60.0);
         absEncoderConfig.inverted(isEncoderFlipped);
+        config.apply(absEncoderConfig);
         config.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);
         config.closedLoop.positionWrappingEnabled(true);
         config.closedLoop.positionWrappingMaxInput(360.0);
@@ -304,11 +305,12 @@ public void initClosedLoop(double P, double I, double D, double FF, SparkAbsolut
      * @param absEncoder absolute encoder used to provided PID feedback
      * @param isWrapped whether wrapping should be enabled
      */
-    public void initClosedLoop(double P, double I, double D, double FF, SparkAbsoluteEncoder absEncoder, boolean isEncoderFlipped, boolean isWrapped){
+    public void initClosedLoop(double P, double I, double D, double FF, boolean isEncoderFlipped, boolean isWrapped){
         config.closedLoop.pidf(P, I, D, FF, ClosedLoopSlot.kSlot0);
         absEncoderConfig.positionConversionFactor(360.0);
         absEncoderConfig.velocityConversionFactor(360.0/60.0);
         absEncoderConfig.inverted(isEncoderFlipped);
+        config.apply(absEncoderConfig);
         config.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);
         config.closedLoop.positionWrappingEnabled(isWrapped);
         config.closedLoop.positionWrappingMaxInput(360.0);

diff --git a/src/main/java/org/wildstang/sample/subsystems/swerve/SwerveModule.java b/src/main/java/org/wildstang/sample/subsystems/swerve/SwerveModule.java
@@ -42,7 +42,7 @@ public SwerveModule(WsSpark driveMotor, WsSpark angleMotor, double offset) {
 
         //set up angle and drive with pid and kpid respectively
         driveMotor.initClosedLoop(DriveConstants.DRIVE_P, DriveConstants.DRIVE_I, DriveConstants.DRIVE_D, 0);
-        angleMotor.initClosedLoop(DriveConstants.ANGLE_P, DriveConstants.ANGLE_I, DriveConstants.ANGLE_D, 0, this.absEncoder, true);
+        angleMotor.initClosedLoop(DriveConstants.ANGLE_P, DriveConstants.ANGLE_I, DriveConstants.ANGLE_D, 0, true);
 
         driveMotor.setCurrentLimit(DriveConstants.DRIVE_CURRENT_LIMIT, DriveConstants.DRIVE_CURRENT_LIMIT, 0);
         angleMotor.setCurrentLimit(DriveConstants.ANGLE_CURRENT_LIMIT, DriveConstants.ANGLE_CURRENT_LIMIT, 0);