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Added logging for talon configuration failures #153

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merged 1 commit into from
Sep 16, 2024
Merged

Added logging for talon configuration failures #153

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2 changes: 1 addition & 1 deletion src/main/java/com/team1701/robot/Configuration.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
import edu.wpi.first.wpilibj.DriverStation.Alliance;

public final class Configuration {
private static final RobotType kRobot = RobotType.SIMULATION_BOT;
private static final RobotType kRobot = RobotType.COMPETITION_BOT;

private static boolean mInvalidRobotAlerted = false;

Expand Down
16 changes: 15 additions & 1 deletion src/main/java/com/team1701/robot/util/TalonFxMotorFactory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,11 @@
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.team1701.lib.alerts.Alert;
import com.team1701.lib.drivers.motors.MotorIOTalonFX;
import com.team1701.lib.drivers.motors.MotorIOTalonFXFOC;
import com.team1701.robot.Constants;
import org.littletonrobotics.junction.Logger;

public class TalonFxMotorFactory {
private static final InvertedValue kInverted = InvertedValue.Clockwise_Positive;
Expand Down Expand Up @@ -90,10 +92,22 @@ public static MotorIOTalonFXFOC createSteerMotorIOTalonFxFoc(int deviceId) {
}

private static void configureWithRetry(TalonFX motor, TalonFXConfiguration config) {
StatusCode statusCode = null;
for (int i = 0; i < 4; i++) {
if (motor.getConfigurator().apply(config, 0.1) == StatusCode.OK) {
statusCode = motor.getConfigurator().apply(config, 0.1);
if (statusCode == StatusCode.OK) {
break;
}
}

if (statusCode != StatusCode.OK) {
Alert.error("TalonFX configuration failed: id=" + motor.getDeviceID() + ",status=" + statusCode.toString())
.enable();

var actualConfig = new TalonFXConfiguration();
motor.getConfigurator().refresh(actualConfig, 0.1);
Logger.recordOutput("Motor/" + motor.getDeviceID() + "/Config", config.toString());
Logger.recordOutput("Motor/" + motor.getDeviceID() + "/ActualConfig", actualConfig.toString());
}
}
}