Added Implementation of SparkMaxUtils.initWithRetry() #33
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- added errors += SparkMaxUtils.check() stuff to the initSparks() method in Arm, Grabber, SwerveModule - added SparkMaxUtils.initWithRetry() line to each constructor in Arm, Grabber, SwerveModule
avakimc
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balghane
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Nov 2, 2023
| @@ -57,7 +60,7 @@ public enum ArmPosition { | |||
| ArmCal.ARM_MAX_ACCELERATION_DEG_PER_SECOND_SQUARED)); | |||
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| public Arm(ScoringLocationUtil scoreLoc) { | |||
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| SparkMaxUtils.initWithRetry(this::initSparks, Calibrations.SPARK_INIT_RETRY_ATTEMPTS); | |||
| @@ -45,6 +46,8 @@ public SwerveModule(int drivingCanId, int turningCanId, double chassisAngularOff | |||
| turningSparkMax = new CANSparkMax(turningCanId, MotorType.kBrushless); | |||
| chassisAngularOffsetRadians = chassisAngularOffset; | |||
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| SparkMaxUtils.initWithRetry(this::initDriveSpark, Calibrations.SPARK_INIT_RETRY_ATTEMPTS); | |||
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Make an initialize function and call in there. Also call for the turnspark
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Also add a swerve system initialize function that call the initialize for all our modules
| @@ -57,7 +60,7 @@ public enum ArmPosition { | |||
| ArmCal.ARM_MAX_ACCELERATION_DEG_PER_SECOND_SQUARED)); | |||
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| public Arm(ScoringLocationUtil scoreLoc) { | |||
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| SparkMaxUtils.initWithRetry(this::initSparks, Calibrations.SPARK_INIT_RETRY_ATTEMPTS); | |||
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Can you set SPARK_INIT_RETRY_ATTEMPTS to like 5 or something
balghane
reviewed
Nov 2, 2023
| @@ -57,7 +60,7 @@ public enum ArmPosition { | |||
| ArmCal.ARM_MAX_ACCELERATION_DEG_PER_SECOND_SQUARED)); | |||
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| public Arm(ScoringLocationUtil scoreLoc) { | |||
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| this.initialize(); | |||
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These should not be called yet until a later point, called in robot container
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| // inverting stuff | ||
| armAbsoluteEncoder.setInverted(true); | ||
| errors += SparkMaxUtils.check(armEncoder.setInverted(true)); | ||
| armMotor.setInverted(false); | ||
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| // Get positions and degrees of elevator through encoder in inches | ||
| setDegreesFromGearRatioRelativeEncoder(armEncoder, ArmConstants.ARM_MOTOR_GEAR_RATIO); |
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Do these return errors internally? Should be checked too
| @@ -87,13 +87,21 @@ public class DriveSubsystem extends SubsystemBase { | |||
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| /** Creates a new DriveSubsystem. */ | |||
| public DriveSubsystem(Lights lightsSubsystem, BooleanSupplier isTimedMatchFunc) { | |||
| this.initialize(); | |||
| @@ -45,6 +46,8 @@ public SwerveModule(int drivingCanId, int turningCanId, double chassisAngularOff | |||
| turningSparkMax = new CANSparkMax(turningCanId, MotorType.kBrushless); | |||
| chassisAngularOffsetRadians = chassisAngularOffset; | |||
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| this.initialize(); | |||
| /** Does all the initialization for the spark */ | ||
| void initTurnSpark() { | ||
| boolean initTurnSpark() { | ||
| int errors = 0; | ||
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| turningSparkMax.restoreFactoryDefaults(); |
| @@ -29,6 +31,11 @@ public class Grabber extends SubsystemBase { | |||
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| public Grabber(Command rumbleBrieflyCmd) { | |||
| this.rumbleBriefly = rumbleBrieflyCmd; | |||
| this.initialize(); | |||
| int errors = 0; | ||
| errors += SparkMaxUtils.check(frontMotor.restoreFactoryDefaults()); | ||
| errors += SparkMaxUtils.check(backMotor.restoreFactoryDefaults()); | ||
| // backMotor.follow(frontMotor); |
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Is this needed, why is it commented out
balghane
reviewed
Nov 2, 2023
| } | ||
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| public static void setDegreesFromGearRatioRelativeEncoder( | ||
| RelativeEncoder sparkMaxEncoder, double ratio) { | ||
| public static int setDegreesFromGearRatioRelativeEncoder( |
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Add comment what the return values are that you changed?
balghane
approved these changes
Nov 2, 2023
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/format |
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