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Unify Spark motor & encoder classes #322

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Unify Spark motor & encoder classes #322

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4 changes: 2 additions & 2 deletions src/main/java/swervelib/SwerveModule.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import swervelib.encoders.SparkMaxEncoderSwerve;
import swervelib.encoders.SparkEncoderSwerve;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.math.SwerveMath;
import swervelib.motors.SparkMaxBrushedMotorSwerve;
Expand Down Expand Up @@ -856,7 +856,7 @@ public void pushOffsetsToEncoders()
// If the absolute encoder is attached.
if (angleMotor instanceof SparkMaxSwerve || angleMotor instanceof SparkMaxBrushedMotorSwerve)
{
if (absoluteEncoder instanceof SparkMaxEncoderSwerve)
if (absoluteEncoder instanceof SparkEncoderSwerve)
{
angleMotor.setAbsoluteEncoder(absoluteEncoder);
if (absoluteEncoder.setAbsoluteEncoderOffset(angleOffset))
Expand Down
106 changes: 44 additions & 62 deletions ...encoders/SparkMaxAnalogEncoderSwerve.java → ...ib/encoders/SparkAnalogEncoderSwerve.java
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Original file line number Diff line number Diff line change
@@ -1,67 +1,70 @@
package swervelib.encoders;

import com.revrobotics.REVLibError;
import com.revrobotics.spark.SparkAnalogSensor;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkBase;
import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import java.util.function.Supplier;
import swervelib.motors.SparkMaxBrushedMotorSwerve;
import swervelib.motors.SparkMaxSwerve;
import swervelib.motors.SparkSwerve;
import swervelib.motors.SwerveMotor;

/**
* SparkMax absolute encoder, attached through the data port analog pin.
* SparkBase absolute encoder, attached through the data port analog pin.
*/
public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
public class SparkAnalogEncoderSwerve extends SwerveAbsoluteEncoder
{

/**
* {@link swervelib.motors.SparkMaxSwerve} or {@link swervelib.motors.SparkMaxBrushedMotorSwerve} object.
* The {@link SparkAnalogSensor} representing the duty cycle encoder attached to the SparkBase analog port.
*/
private final SwerveMotor sparkMax;
public SparkAnalogSensor encoder;

/**
* The {@link SparkAnalogSensor} representing the duty cycle encoder attached to the SparkMax analog port.
* {@link swervelib.motors.SparkMaxSwerve} or {@link swervelib.motors.SparkMaxBrushedMotorSwerve} object.
*/
public SparkAnalogSensor encoder;
protected final SwerveMotor motor;

/**
* An {@link Alert} for if there is a failure configuring the encoder.
*/
private Alert failureConfiguring;
protected final Alert failureConfiguring;

/**
* An {@link Alert} for if the absolute encoder does not support integrated offsets.
*/
private Alert doesNotSupportIntegratedOffsets;
protected final Alert doesNotSupportIntegratedOffsets;

/**
* Create the {@link SparkMaxAnalogEncoderSwerve} object as a analog sensor from the {@link SparkMax} motor data port
* analog pin.
* Create the {@link SparkAnalogEncoderSwerve} object as a analog sensor from the {@link SparkBase}
* motor data port analog pin.
*
* @param motor Motor to create the encoder from.
* @param motor Motor to create the encoder from.
* @param maxVoltage Maximum voltage for analog input reading.
*/
public SparkMaxAnalogEncoderSwerve(SwerveMotor motor, double maxVoltage)
public SparkAnalogEncoderSwerve(SwerveMotor motor, double maxVoltage)
{
if (motor.getMotor() instanceof SparkMax)
if (motor.getMotor() instanceof SparkBase)
{
sparkMax = motor;
encoder = ((SparkMax) motor.getMotor()).getAnalog();
this.motor = motor;
encoder = ((SparkBase) motor.getMotor()).getAnalog();
motor.setAbsoluteEncoder(this);
setConversionFactor(360.0 / maxVoltage);
} else
{
throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
throw new RuntimeException("Motor given to instantiate SparkAnalogEncoderSwerve is not a SparkBase");
}
failureConfiguring = new Alert(
"Encoders",
"Failure configuring SparkMax Analog Encoder",
"Encoders",
"Failure configuring SparkBase Analog Encoder",
AlertType.kWarning);
doesNotSupportIntegratedOffsets = new Alert(
"Encoders",
"SparkMax Analog Sensors do not support integrated offsets",
"SparkBase Analog Sensors do not support integrated offsets",
AlertType.kWarning);

}

@Override
Expand All @@ -73,38 +76,20 @@ public void close()
// sparkMax.close();
}

/**
* Run the configuration until it succeeds or times out.
*
* @param config Lambda supplier returning the error state.
*/
private void configureSparkMax(Supplier<REVLibError> config)
{
for (int i = 0; i < maximumRetries; i++)
{
if (config.get() == REVLibError.kOk)
{
return;
}
}
failureConfiguring.set(true);
}

/**
* Set the conversion factor of the {@link SparkMaxAnalogEncoderSwerve}.
*
* @param conversionFactor Position conversion factor from ticks to unit.
*/
public void setConversionFactor(double conversionFactor)
{
SparkMaxConfig cfg = null;
if (sparkMax instanceof SparkMaxSwerve)
SparkBaseConfig cfg = null;
if (motor instanceof SparkMaxSwerve)
{
cfg = ((SparkMaxSwerve) sparkMax).getConfig();

} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
cfg = ((SparkMaxSwerve) motor).getConfig();
} else if (motor instanceof SparkMaxBrushedMotorSwerve)
{
cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
cfg = ((SparkMaxBrushedMotorSwerve) motor).getConfig();
}
if (cfg != null)
{
Expand All @@ -122,17 +107,15 @@ public void setConversionFactor(double conversionFactor)
.positionConversionFactor(conversionFactor)
.velocityConversionFactor(conversionFactor / 60);
}
if (sparkMax instanceof SparkMaxSwerve)
if (motor instanceof SparkMaxSwerve)
{
((SparkMaxSwerve) sparkMax).updateConfig(cfg);
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
((SparkMaxSwerve) motor).updateConfig(cfg);
} else if (motor instanceof SparkMaxBrushedMotorSwerve)
{
((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
((SparkMaxBrushedMotorSwerve) motor).updateConfig((SparkMaxConfig) cfg);
}

}


/**
* Reset the encoder to factory defaults.
*/
Expand All @@ -143,8 +126,7 @@ public void factoryDefault()
}

/**
* Clear sticky faults on the encoder.
*/
* Clear sticky faults on the encoder. */
@Override
public void clearStickyFaults()
{
Expand All @@ -159,16 +141,16 @@ public void clearStickyFaults()
@Override
public void configure(boolean inverted)
{
if (sparkMax instanceof SparkMaxSwerve)
{
SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
if (motor instanceof SparkSwerve) {
var sparkBase = (SparkSwerve) motor;
SparkBaseConfig cfg = sparkBase.getConfig();
cfg.analogSensor.inverted(inverted);
((SparkMaxSwerve) sparkMax).updateConfig(cfg);
} else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
{
SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
sparkBase.updateConfig(cfg);
} else if (motor instanceof SparkMaxBrushedMotorSwerve) {
var sparkMax = (SparkMaxBrushedMotorSwerve) motor;
SparkMaxConfig cfg = sparkMax.getConfig();
cfg.analogSensor.inverted(inverted);
((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
sparkMax.updateConfig(cfg);
}
}

Expand Down
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