Add conversion factor for cancoder

RegisJesuitRobotics · Feb 20, 2024 · 6d2713f · 6d2713f
1 parent 1494870
commit 6d2713f
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Showing 3 changed files with 27 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -1,17 +1,19 @@
 package frc.robot;
 
-/** Automatically generated file containing build version information. */
+/**
+ * Automatically generated file containing build version information.
+ */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Competition2024";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 102;
-  public static final String GIT_SHA = "7663b1c5761c6c8009a1f830cc431338c3b75a03";
-  public static final String GIT_DATE = "2024-02-18 14:07:34 MST";
+  public static final int GIT_REVISION = 105;
+  public static final String GIT_SHA = "14948704bab3b26f113c92007ec19db04dac36d5";
+  public static final String GIT_DATE = "2024-02-19 21:35:51 MST";
   public static final String GIT_BRANCH = "workingongettingready";
-  public static final String BUILD_DATE = "2024-02-19 17:52:53 MST";
-  public static final long BUILD_UNIX_TIME = 1708390373962L;
-  public static final int DIRTY = 1;
+  public static final String BUILD_DATE = "2024-02-19 21:36:08 MST";
+  public static final long BUILD_UNIX_TIME = 1708403768725L;
+  public static final int DIRTY = 0;
 
-  private BuildConstants() {}
+  private BuildConstants(){}
 }
diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveModule.java b/src/main/java/frc/robot/subsystems/swerve/SwerveModule.java
@@ -369,6 +369,9 @@ private void configSteerEncoder(SwerveModuleConfiguration config) {
         "Steer encoder module " + instanceId,
         faultRecorder.getFaultString());
     steerEncoderFaultAlert.set(faultRecorder.hasFault());
+
+    absoluteSteerEncoder.setLoggingPositionConversionFactor(Math.PI * 2);
+    absoluteSteerEncoder.setLoggingVelocityConversionFactor(Math.PI * 2);
   }
 
   private void checkForSteerMotorReset() {

diff --git a/src/main/java/frc/robot/telemetry/wrappers/TelemetryCANCoder.java b/src/main/java/frc/robot/telemetry/wrappers/TelemetryCANCoder.java
@@ -24,6 +24,9 @@ public class TelemetryCANCoder extends CANcoder {
   private final IntegerTelemetryEntry faultEntry;
   private final IntegerTelemetryEntry stickyFaultEntry;
 
+  private double loggingPositionConversionFactor = 1.0;
+  private double loggingVelocityConversionFactor = 1.0;
+
   public TelemetryCANCoder(int deviceId, String telemetryPath, boolean tuningMode) {
     this(deviceId, telemetryPath, "", tuningMode);
   }
@@ -50,6 +53,14 @@ public TelemetryCANCoder(int deviceId, String telemetryPath, String canbus, bool
     stickyFaultEntry = new IntegerTelemetryEntry(telemetryPath + "stickyFaults", tuningMode);
   }
 
+  public void setLoggingPositionConversionFactor(double factor) {
+    loggingPositionConversionFactor = factor;
+  }
+
+  public void setLoggingVelocityConversionFactor(double factor) {
+    loggingVelocityConversionFactor = factor;
+  }
+
   public void logValues() {
     BaseStatusSignal.refreshAll(
         positionSignal,
@@ -60,9 +71,9 @@ public void logValues() {
         faultSignal,
         stickyFaultSignal);
 
-    positionEntry.append(positionSignal.getValue());
-    velocityEntry.append(velocitySignal.getValue());
-    absolutePositionEntry.append(absolutePositionSignal.getValue());
+    positionEntry.append(positionSignal.getValue() * loggingPositionConversionFactor);
+    velocityEntry.append(velocitySignal.getValue() * loggingVelocityConversionFactor);
+    absolutePositionEntry.append(absolutePositionSignal.getValue() * loggingPositionConversionFactor);
     supplyVoltageEntry.append(supplyVoltageSignal.getValue());
     magnetHealthEntry.append(magnetHealthSignal.getValue().value);
     faultEntry.append(faultSignal.getValue());