Merge branch 'main' into 75-neojava-health-and-wellness-isFlex

Patribots4738 · Jan 28, 2024 · 63afb23 · 63afb23
2 parents 36dbdae + ed43196
commit 63afb23
Show file tree

Hide file tree

Showing 8 changed files with 68 additions and 21 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -7,9 +7,11 @@
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.util.Neo;
 import frc.robot.util.Constants.AutoConstants;
 import frc.robot.util.Constants.DriveConstants;
 import frc.robot.util.Constants.FieldConstants;
+import frc.robot.util.Constants.NeoMotorConstants;
 import monologue.Monologue;
 
 /**
@@ -41,7 +43,7 @@ public void robotInit() {
     public void robotPeriodic() {
         Monologue.updateAll();
         CommandScheduler.getInstance().run();
-
+        
         DriverUI.previousTimestmap = DriverUI.currentTimestamp;
         DriverUI.currentTimestamp = Timer.getFPGATimestamp();
     }
@@ -114,5 +116,9 @@ public void simulationInit() { }
     @Override
     public void simulationPeriodic() { 
         REVPhysicsSim.getInstance().run();
+
+        for (Neo neo : NeoMotorConstants.motors) {
+            neo.tick();
+        }
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/Climb.java b/src/main/java/frc/robot/subsystems/Climb.java
@@ -8,6 +8,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.util.Neo;
 import frc.robot.util.Constants.ClimbConstants;
+import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.Constants.FieldConstants.ChainPosition;
 import monologue.Logged;
 

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -5,6 +5,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.util.Neo;
+import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.Constants.IntakeConstants;
 
 public class Intake extends SubsystemBase {

diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -46,11 +46,6 @@ public void configMotors() {
 
     }
 
-    @Override
-    public void periodic() {
-        // This method will be called once per scheduler run
-    }
-
     public Command shoot(Pose2d position, boolean shootingAtSpeaker) {
         SpeedAnglePair pair = calculateSpeed(position, shootingAtSpeaker);
         return runOnce(() -> motorLeft.setTargetPercent(1));

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -144,12 +144,6 @@ public void periodic() {
 
     public void logPositions() {
 
-        if (FieldConstants.IS_SIMULATION) {
-            for (MAXSwerveModule mod : swerveModules) {
-                mod.tick();
-            }
-        }
-
         swerveMeasuredStates = new SwerveModuleState[] {
             frontLeft.getState(), frontRight.getState(), rearLeft.getState(), rearRight.getState()
         };

diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -262,7 +262,10 @@ public static final class NeoMotorConstants {
         public static final double VORTEX_FREE_SPEED_RPM = 6784;
         public static final double NEO_FREE_SPEED_RPM = 5676;
 
-        public static ArrayList<CANSparkBase> motors = new ArrayList<>();
+        public static final int MAX_PERIODIC_STATUS_TIME_MS = 65535;
+        public static final int FAST_PERIODIC_STATUS_TIME_MS = 10;
+
+        public static ArrayList<Neo> motors = new ArrayList<>();
     }
 
     public static final class IntakeConstants {

diff --git a/src/main/java/frc/robot/util/MAXSwerveModule.java b/src/main/java/frc/robot/util/MAXSwerveModule.java
@@ -150,11 +150,6 @@ public void setBrakeMode() {
         turningSpark.setIdleMode(CANSparkBase.IdleMode.kBrake);
     }
 
-    public void tick() {
-        drivingSpark.tick();
-        turningSpark.tick();
-    }
-
     public void configMotors() {
         turningSpark.restoreFactoryDefaults();
         drivingSpark.restoreFactoryDefaults();

diff --git a/src/main/java/frc/robot/util/Neo.java b/src/main/java/frc/robot/util/Neo.java
@@ -484,9 +484,9 @@ public REVLibError resetStatusFrame(StatusFrame frame) {
     public enum StatusFrame {
         APPLIED_FAULTS_FOLLOWER(PeriodicFrame.kStatus0, 10),
         VELO_TEMP_VOLTAGE_CURRENT(PeriodicFrame.kStatus1, 20),
-        MOTOR_POSITION(PeriodicFrame.kStatus2, 20),
-        ANALOG_VOLTAGE_VELO_POS(PeriodicFrame.kStatus3, 50),
-        ALTERNATE_VELO_POS(PeriodicFrame.kStatus4, 20),
+        ENCODER_POSITION(PeriodicFrame.kStatus2, 20),
+        ALL_ANALOG_ENCODER(PeriodicFrame.kStatus3, 50),
+        ALL_ALTERNATE_ENCODER(PeriodicFrame.kStatus4, 20),
         ABSOLUTE_ENCODER_POS(PeriodicFrame.kStatus5, 200),
         ABSOLUTE_ENCODER_VELO(PeriodicFrame.kStatus6, 200);
 
@@ -548,4 +548,56 @@ public void setBrakeMode() {
     public void setCoastMode() {
         this.setIdleMode(CANSparkBase.IdleMode.kBrake);
     }
+
+    public enum TelemtryPreference {
+        ONLY_ABSOLUTE_ENCODER,
+        ONLY_RELATIVE_ENCODER,
+        NO_TELEMETRY,
+        NO_ENCODER
+    }
+
+    /**
+     * Set the telemetry preference of the Neo
+     * This will disable the telemtry status frames 
+     * which is found at https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces#periodic-status-frames
+     * @param type the enum to represent the telemetry preference
+     *             this will tell the motor to only send 
+     *             that type of telemtry
+     */
+    public void setTelemetryPreference(TelemtryPreference type) {
+        final int maxDelay = NeoMotorConstants.MAX_PERIODIC_STATUS_TIME_MS;
+        final int minDelay = NeoMotorConstants.FAST_PERIODIC_STATUS_TIME_MS;
+
+        // No matter what preference, we don't use analog or external encoders.
+        changeStatusFrame(StatusFrame.ALL_ALTERNATE_ENCODER, maxDelay);
+        changeStatusFrame(StatusFrame.ALL_ANALOG_ENCODER, maxDelay);
+
+        switch(type) {
+            // Disable all telemetry that is unrelated to the encoder
+            case NO_ENCODER: 
+                changeStatusFrame(StatusFrame.ENCODER_POSITION, maxDelay);
+                changeStatusFrame(StatusFrame.ALL_ANALOG_ENCODER, maxDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_VELO, maxDelay);
+                break;
+            // Disable all telemetry that is unrelated to absolute encoders
+            case ONLY_ABSOLUTE_ENCODER:
+                changeStatusFrame(StatusFrame.VELO_TEMP_VOLTAGE_CURRENT, maxDelay);
+                changeStatusFrame(StatusFrame.ENCODER_POSITION, maxDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_POS, minDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_VELO, minDelay);
+                break;
+            // Disable all telemetry that is unrelated to the relative encoder
+            case ONLY_RELATIVE_ENCODER: 
+                changeStatusFrame(StatusFrame.ALL_ANALOG_ENCODER, maxDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_VELO, maxDelay);
+                break;
+            // Disable everything
+            case NO_TELEMETRY:
+                changeStatusFrame(StatusFrame.VELO_TEMP_VOLTAGE_CURRENT, maxDelay);
+                changeStatusFrame(StatusFrame.ENCODER_POSITION, maxDelay);
+                changeStatusFrame(StatusFrame.ALL_ANALOG_ENCODER, maxDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_VELO, maxDelay);
+                break;
+        }
+    }
 }