Add alternate encoder support to FalconMAX (#88)

FRC5190 · Dec 14, 2019 · 7dcec45 · 7dcec45
1 parent 8937888
commit 7dcec45
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Showing 2 changed files with 78 additions and 45 deletions.
diff --git a/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAX.kt b/vendorREV/src/main/kotlin/org/ghrobotics/lib/motors/rev/FalconMAX.kt
@@ -8,6 +8,7 @@
 
 package org.ghrobotics.lib.motors.rev
 
+import com.revrobotics.AlternateEncoderType
 import com.revrobotics.CANPIDController
 import com.revrobotics.CANSparkMax
 import com.revrobotics.CANSparkMaxLowLevel
@@ -25,17 +26,42 @@ import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitModel
 import org.ghrobotics.lib.motors.AbstractFalconMotor
 import org.ghrobotics.lib.motors.FalconMotor
 
+/**
+ * Creates a Spark MAX motor controller. The alternate encoder CPR is defaulted
+ * to the CPR of the REV Through Bore Encoder.
+ */
 class FalconMAX<K : SIKey>(
     val canSparkMax: CANSparkMax,
-    val model: NativeUnitModel<K>
+    val model: NativeUnitModel<K>,
+    useAlternateEncoder: Boolean = false,
+    alternateEncoderCPR: Int = 8192
 ) : AbstractFalconMotor<K>() {
 
-    constructor(id: Int, type: CANSparkMaxLowLevel.MotorType, model: NativeUnitModel<K>) : this(
-        CANSparkMax(id, type), model
+    /**
+     * Creates a Spark MAX motor controller. The alternate encoder CPR is defaulted
+     * to the CPR of the REV Through Bore Encoder.
+     */
+    constructor(
+        id: Int,
+        type: CANSparkMaxLowLevel.MotorType,
+        model: NativeUnitModel<K>,
+        useAlternateEncoder: Boolean = false,
+        alternateEncoderCPR: Int = 8196
+    ) : this(
+        CANSparkMax(id, type), model, useAlternateEncoder, alternateEncoderCPR
     )
 
     val controller: CANPIDController = canSparkMax.pidController
-    override val encoder = FalconMAXEncoder(canSparkMax.encoder, model)
+    override val encoder = FalconMAXEncoder(
+        if (useAlternateEncoder) canSparkMax.getAlternateEncoder(
+            AlternateEncoderType.kQuadrature,
+            alternateEncoderCPR
+        ) else canSparkMax.encoder, model
+    )
+
+    init {
+        controller.setFeedbackDevice(encoder.canEncoder)
+    }
 
     override val voltageOutput: SIUnit<Volt>
         get() = (canSparkMax.appliedOutput * canSparkMax.busVoltage).volts
@@ -103,12 +129,16 @@ class FalconMAX<K : SIKey>(
 fun <K : SIKey> falconMAX(
     canSparkMax: CANSparkMax,
     model: NativeUnitModel<K>,
+    useAlternateEncoder: Boolean = false,
+    alternateEncoderCPR: Int = 8192,
     block: FalconMAX<K>.() -> Unit
-) = FalconMAX(canSparkMax, model).also(block)
+) = FalconMAX(canSparkMax, model, useAlternateEncoder, alternateEncoderCPR).also(block)
 
 fun <K : SIKey> falconMAX(
     id: Int,
     type: CANSparkMaxLowLevel.MotorType,
     model: NativeUnitModel<K>,
+    useAlternateEncoder: Boolean = false,
+    alternateEncoderCPR: Int = 8192,
     block: FalconMAX<K>.() -> Unit
-) = FalconMAX(id, type, model).also(block)
+) = FalconMAX(id, type, model, useAlternateEncoder, alternateEncoderCPR).also(block)
diff --git a/vendorREV/vendordeps/REVRobotics.json b/vendorREV/vendordeps/REVRobotics.json
@@ -1,64 +1,67 @@
 {
-  "fileName": "REVRobotics.json",
-  "name": "REVRobotics",
-  "version": "1.4.33",
-  "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
-  "mavenUrls": [
-    "http://www.revrobotics.com/content/sw/max/sdk/maven/"
-  ],
-  "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
-  "javaDependencies": [
-    {
-      "groupId": "com.revrobotics.frc",
-      "artifactId": "SparkMax-java",
-      "version": "1.4.33"
-    }
-  ],
-  "jniDependencies": [
+  "cppDependencies": [
     {
-      "groupId": "com.revrobotics.frc",
-      "artifactId": "SparkMax-driver",
-      "version": "1.4.33",
-      "skipInvalidPlatforms": true,
-      "isJar": false,
-      "validPlatforms": [
+      "artifactId": "SparkMax-cpp",
+      "binaryPlatforms": [
         "windowsx86-64",
         "windowsx86",
+        "linuxx86-64",
         "linuxathena",
         "linuxraspbian"
-      ]
-    }
-  ],
-  "cppDependencies": [
-    {
+      ],
       "groupId": "com.revrobotics.frc",
-      "artifactId": "SparkMax-cpp",
-      "version": "1.4.33",
-      "libName": "SparkMax",
       "headerClassifier": "headers",
+      "libName": "SparkMax",
       "sharedLibrary": false,
       "skipInvalidPlatforms": true,
+      "version": "1.5.0"
+    },
+    {
+      "artifactId": "SparkMax-driver",
       "binaryPlatforms": [
         "windowsx86-64",
         "windowsx86",
+        "linuxx86-64",
         "linuxathena",
         "linuxraspbian"
-      ]
-    },
-    {
+      ],
       "groupId": "com.revrobotics.frc",
-      "artifactId": "SparkMax-driver",
-      "version": "1.4.33",
-      "libName": "SparkMaxDriver",
       "headerClassifier": "headers",
+      "libName": "SparkMaxDriver",
       "sharedLibrary": false,
       "skipInvalidPlatforms": true,
-      "binaryPlatforms": [
+      "version": "1.5.0"
+    }
+  ],
+  "fileName": "REVRobotics.json",
+  "javaDependencies": [
+    {
+      "artifactId": "SparkMax-java",
+      "groupId": "com.revrobotics.frc",
+      "version": "1.5.0"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "artifactId": "SparkMax-driver",
+      "groupId": "com.revrobotics.frc",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
         "windowsx86-64",
         "windowsx86",
+        "linuxx86-64",
         "linuxathena",
         "linuxraspbian"
-      ]
+      ],
+      "version": "1.5.0"
     }
-  ]
+  ],
+  "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
+  "mavenUrls": [
+    "http://www.revrobotics.com/content/sw/max/sdk/maven/"
+  ],
+  "name": "REVRobotics",
+  "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+  "version": "1.5.0"
 }