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Use lib199 with compliant names for sim devices and data. #68

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merged 5 commits into from
Jun 20, 2024
Merged

Use lib199 with compliant names for sim devices and data. #68

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b5d8181
Use lib199 with compliant names for sim devices and data.
brettle May 21, 2024
2a4b389
Bump lib199 commit hash to include latest commit on the compliance br…
brettle May 21, 2024
6f970d9
Merge remote-tracking branch 'origin/master' into fix-use-lib199-with…
brettle Jun 20, 2024
5a198cf
Bump lib199 version.
brettle Jun 20, 2024
85ae2c3
Revert unrelated formatting changes.
brettle Jun 20, 2024
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2 changes: 1 addition & 1 deletion build.gradle
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,7 @@ dependencies {
simulationRelease wpi.sim.enableRelease()

testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
implementation "com.github.deepbluerobotics:lib199:3170c4433a775e90d6110334bc5658e573317ab6"
implementation "com.github.deepbluerobotics:lib199:400693b52180c82a1f26c08025bc12f144b930f9"
}

test {
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17 changes: 9 additions & 8 deletions src/main/java/org/carlmontrobotics/subsystems/Arm.java
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ public class Arm extends SubsystemBase {
private ShuffleboardTab sysIdTab = Shuffleboard.getTab("arm SysID");
private boolean setPIDOff;

private SimDouble positionSim;
private SimDouble rotationsSim;

public Arm() {
// weird math stuff
Expand Down Expand Up @@ -162,8 +162,8 @@ public Arm() {
armProfile = new TrapezoidProfile(TRAP_CONSTRAINTS);
SmartDashboard.putBoolean("arm is at pos", false);
if (RobotBase.isSimulation()) {
positionSim = new SimDeviceSim("SparkMax[%d]_AbsoluteEncoder".formatted(ARM_MOTOR_PORT_MASTER))
.getDouble("Position");
rotationsSim = new SimDeviceSim("CANDutyCycle:CANSparkMax",
ARM_MOTOR_PORT_MASTER).getDouble("position");
}

}
Expand Down Expand Up @@ -469,11 +469,12 @@ public void setDefaultCommand(TeleopArm teleopArm, Object object) {

@Override
public void simulationPeriodic() {
// Fake goaling to the goal instantaneously
if (positionSim != null) {
positionSim.set((goalState.position - armMasterEncoder.getZeroOffset())
* (armMasterEncoder.getInverted() ? -1.0 : 1.0)
/ armMasterEncoder.getPositionConversionFactor() * MockedEncoder.NEO_BUILTIN_ENCODER_CPR);
// Fake going to the goal instantaneously
if (rotationsSim != null) {
rotationsSim
.set((goalState.position - armMasterEncoder.getZeroOffset())
* (armMasterEncoder.getInverted() ? -1.0 : 1.0)
/ armMasterEncoder.getPositionConversionFactor());
}
}
}
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