Refactoring drive train swerve module to batch update signals and use…#32
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Refactoring drive train swerve module to batch update signals and use…#32Kython89 wants to merge 1 commit into
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akrose6114
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Mar 8, 2024
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It took me a minute to find the creation of the new values in the update func but i think this makes sense and is an improvement.
We will want I think to declare/initialize all of the values we use in update in the init function so that they have an allocation and don't cause a crash if read before they are instantiated in update function.
| def distance(self): | ||
| return wpimath.units.inchesToMeters(self.driveMotor.get_position().value * self.wheel_circumference) | ||
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Dexter: should be self.state_drive_pos
| def get_state(self): | ||
| return SwerveModuleState( | ||
| speed=wpimath.units.inchesToMeters(self.driveMotor.get_velocity().value * (self.wheel_circumference)), | ||
| speed=wpimath.units.inchesToMeters(state_drive_vel * (self.wheel_circumference)), |
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… latency comp Fix paths with events on C++ (#603)
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… latency comp
Docs driving these changes are here. Untested on an actual robot.
https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/api-usage/status-signals.html