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Fix optional absolute encoder for Spark devices #298

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thenetworkgrinch merged 3 commits into from
Jan 15, 2025
Merged

Fix optional absolute encoder for Spark devices #298

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6fa444c
Fix optional absolute encoder for Spark devices
MetabolicCloth Jan 15, 2025
aa9bfdc
updated absolute encoder supplier for consistency/pedantic reasons
MetabolicCloth Jan 15, 2025
1263a9b
missed null checks for absolute encoder
MetabolicCloth Jan 15, 2025
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16 changes: 9 additions & 7 deletions src/main/java/swervelib/motors/SparkFlexSwerve.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,8 @@
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;

import java.util.Optional;
import java.util.function.Supplier;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.parser.PIDFConfig;
Expand All @@ -48,7 +50,7 @@ public class SparkFlexSwerve extends SwerveMotor
/**
* Absolute encoder attached to the SparkFlex (if exists)
*/
public SwerveAbsoluteEncoder absoluteEncoder;
public Optional<SwerveAbsoluteEncoder> absoluteEncoder = Optional.empty();
/**
* Closed-loop PID controller.
*/
Expand Down Expand Up @@ -224,7 +226,7 @@ public DCMotor getSimMotor()
@Override
public boolean isAttachedAbsoluteEncoder()
{
return absoluteEncoder != null;
return absoluteEncoder.isPresent();
}

/**
Expand Down Expand Up @@ -256,18 +258,18 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
{
if (encoder == null)
{
absoluteEncoder = null;
this.absoluteEncoder = Optional.empty();
cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);

velocity = this.encoder::getVelocity;
position = this.encoder::getPosition;
} else if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
{
cfg.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);
absoluteEncoder = encoder;
this.absoluteEncoder = Optional.of(encoder);

velocity = absoluteEncoder::getVelocity;
position = absoluteEncoder::getAbsolutePosition;
velocity = this.absoluteEncoder.get()::getVelocity;
position = this.absoluteEncoder.get()::getAbsolutePosition;
}
return this;
}
Expand Down Expand Up @@ -329,7 +331,7 @@ public void configureIntegratedEncoder(double positionConversionFactor)
// Some of the frames can probably be adjusted to decrease CAN utilization, with 65535 being the max.
// From testing, 20ms on frame 5 sometimes returns the same value while constantly powering the azimuth but 8ms may be overkill,
// with limited testing 19ms did not return the same value while the module was constatntly rotating.
if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
if (absoluteEncoder.get().getAbsoluteEncoder() instanceof AbsoluteEncoder)
{
cfg.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);

Expand Down
14 changes: 7 additions & 7 deletions src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
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Expand Up @@ -46,7 +46,7 @@ public class SparkMaxBrushedMotorSwerve extends SwerveMotor
/**
* Absolute encoder attached to the SparkMax (if exists)
*/
public SwerveAbsoluteEncoder absoluteEncoder;
public Optional<SwerveAbsoluteEncoder> absoluteEncoder;
/**
* Integrated encoder.
*/
Expand Down Expand Up @@ -290,7 +290,7 @@ public DCMotor getSimMotor()
@Override
public boolean isAttachedAbsoluteEncoder()
{
return absoluteEncoder != null;
return absoluteEncoder.isPresent();
}

/**
Expand Down Expand Up @@ -322,7 +322,7 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
{
if (encoder == null)
{
absoluteEncoder = null;
this.absoluteEncoder = Optional.empty();
cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);

this.encoder.ifPresentOrElse((RelativeEncoder enc) -> {
Expand All @@ -337,9 +337,9 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
cfg.closedLoop.feedbackSensor(encoder instanceof SparkMaxAnalogEncoderSwerve
? FeedbackSensor.kAnalogSensor : FeedbackSensor.kAbsoluteEncoder);

absoluteEncoder = encoder;
velocity = absoluteEncoder::getVelocity;
position = absoluteEncoder::getAbsolutePosition;
this.absoluteEncoder = Optional.of(encoder);
velocity = this.absoluteEncoder.get()::getVelocity;
position = this.absoluteEncoder.get()::getAbsolutePosition;
noEncoderDefinedAlert.set(false);
}
if (absoluteEncoder == null && this.encoder.isEmpty())
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@thenetworkgrinch thenetworkgrinch Jan 15, 2025

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This check is wrong now too

Expand Down Expand Up @@ -404,7 +404,7 @@ public void configureIntegratedEncoder(double positionConversionFactor)
// Some of the frames can probably be adjusted to decrease CAN utilization, with 65535 being the max.
// From testing, 20ms on frame 5 sometimes returns the same value while constantly powering the azimuth but 8ms may be overkill,
// with limited testing 19ms did not return the same value while the module was constatntly rotating.
if (absoluteEncoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
if (absoluteEncoder.get().getAbsoluteEncoder() instanceof AbsoluteEncoder)
{
cfg.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);

Expand Down
6 changes: 3 additions & 3 deletions src/main/java/swervelib/motors/SparkMaxSwerve.java
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Original file line number Diff line number Diff line change
Expand Up @@ -224,7 +224,7 @@ public DCMotor getSimMotor()
@Override
public boolean isAttachedAbsoluteEncoder()
{
return absoluteEncoder != null;
return absoluteEncoder.isPresent();
}

/**
Expand Down Expand Up @@ -268,8 +268,8 @@ public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
? FeedbackSensor.kAnalogSensor : FeedbackSensor.kAbsoluteEncoder);

this.absoluteEncoder = Optional.of(encoder);
velocity = encoder::getVelocity;
position = encoder::getAbsolutePosition;
velocity = this.absoluteEncoder.get()::getVelocity;
position = this.absoluteEncoder.get()::getAbsolutePosition;
}
return this;
}
Expand Down