Merge pull request #130 from RoboPenguin7/2024

Finished TODO: Configure Status Frame 5 and 6 if necessary
BroncBotz3481 · Jan 14, 2024 · ed62edb · ed62edb
2 parents 35c40d0 + 6f4df80
commit ed62edb
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/src/main/java/swervelib/motors/SparkMaxSwerve.java b/src/main/java/swervelib/motors/SparkMaxSwerve.java
@@ -209,7 +209,7 @@ public void configureIntegratedEncoder(double positionConversionFactor)
 
       // Taken from
       // https://github.com/frc3512/SwerveBot-2022/blob/9d31afd05df6c630d5acb4ec2cf5d734c9093bf8/src/main/java/frc/lib/util/CANSparkMaxUtil.java#L67
-      configureCANStatusFrames(10, 20, 20, 500, 500);
+      configureCANStatusFrames(10, 20, 20, 500, 500, 200, 200);
     } else
     {
       configureSparkMax(() -> {
@@ -278,16 +278,19 @@ public void configurePIDWrapping(double minInput, double maxInput)
    * @param CANStatus2 Motor Position
    * @param CANStatus3 Analog Sensor Voltage, Analog Sensor Velocity, Analog Sensor Position
    * @param CANStatus4 Alternate Encoder Velocity, Alternate Encoder Position
+   * @param CANStatus5 Duty Cycle Absolute Encoder Position, Duty Cycle Absolute Encoder Absolute Angle
+   * @param CANStatus6 Duty Cycle Absolute Encoder Velocity, Duty Cycle Absolute Encoder Frequency
    */
   public void configureCANStatusFrames(
-      int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4)
+      int CANStatus0, int CANStatus1, int CANStatus2, int CANStatus3, int CANStatus4, int CANStatus5, int CANStatus6)
   {
     configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus0, CANStatus0));
     configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus1, CANStatus1));
     configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus2, CANStatus2));
     configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus3, CANStatus3));
     configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus4, CANStatus4));
-    // TODO: Configure Status Frame 5 and 6 if necessary
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus5, CANStatus5));
+    configureSparkMax(() -> motor.setPeriodicFramePeriod(PeriodicFrame.kStatus6, CANStatus6));
     //  https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces
   }