More logging#48
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JRTaylord
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JRTaylord
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Let's be careful with accessing the pigeon at the moment because that looks like the source of our previous seg fault issues.
Also for the zeroed methods, let's have them log if the zero button has been pressed at any point previously just as a quick way to check if the buttons have been pressed at any point
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| public boolean armZeroed() { | ||
| if (armMotor.getPosition().getValueAsDouble() == 0.0) { |
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Let's have this track if the zero button has been pressed or if the zeroing command has ran
| public IntakeIOSparkFlex(){ | ||
| sparkFlex.restoreFactoryDefaults(); | ||
| sparkFlex.setInverted(false); | ||
| sparkFlex.setInverted(Constants.isCompBot() ? false : true); |
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I don't think we need this anymore because the practice bot is working
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| public boolean zeroed() { | ||
| if (talonFX.getPosition().getValueAsDouble() == 0.0) { |
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Same here, just have it return if the zero button has been pressed at any time previously.
| inputs.tyBase = getTYBase(); | ||
| inputs.tyAdjusted = getTYAdjusted(); | ||
| inputs.pipeline = getPipeline(); | ||
| inputs.botpose = getBotPose(); |
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My only concern here is what it does when the bot pose is null. I don't want to tank our code when the limelight isn't seeing a target
| // Logger.recordOutput("Rotation2d", this.getPigeon2().getRotation2d()); | ||
| Logger.recordOutput("Swerve: CurrentState", this.getState().ModuleStates); | ||
| Logger.recordOutput("Swerve: TargetState", this.getState().ModuleTargets); | ||
| Logger.recordOutput("Pigeon Yaw: ", this.getPigeon2().getYaw().getValueAsDouble()); |
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This nee ds to be tested because this could be the source of our previous seg faults which would kill us on the comp field
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I can't find the method for getting the setpoint of motors that aren't talonFX.