Skip to content

Encoder testing #29

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
nlaverdure merged 2 commits into from
Aug 12, 2026
Merged

Encoder testing #29

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
6d1c111
Initialize turn zero from preferences in periodic method
Jatanimo Aug 12, 2026
1a4e763
Refactor turn zero initialization in Module class for clarity and con…
Jatanimo Aug 12, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
28 changes: 15 additions & 13 deletions src/main/java/frc/robot/subsystems/drive/Module.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ public class Module {
private final ModuleIO io;
private final ModuleIOInputsAutoLogged inputs = new ModuleIOInputsAutoLogged();
private final String name;

private boolean initialized = false;
private final Alert driveDisconnectedAlert;
private final Alert turnDisconnectedAlert;
private SwerveModulePosition[] odometryPositions = new SwerveModulePosition[] {};
Expand All @@ -37,26 +37,28 @@ public Module(ModuleIO io, String name) {
new Alert("Disconnected drive motor on module " + name + ".", AlertType.kError);
turnDisconnectedAlert =
new Alert("Disconnected turn motor on module " + name + ".", AlertType.kError);

// Set turn zero from preferences
Rotation2d turnZeroFromCancoder = inputs.turnZero;
Preferences.initDouble(ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians());
Rotation2d turnZeroFromPreferences =
new Rotation2d(
Preferences.getDouble(
ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians()));
io.setTurnZero(turnZeroFromPreferences);
Logger.recordOutput(
"Drive/Module" + name + "/TurnZeroRad", turnZeroFromPreferences.getRadians());
}

public void periodic() {

long t0 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
io.updateInputs(inputs);
long t1 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;
Logger.processInputs("Drive/Module" + name, inputs);
long t2 = FeatureFlags.PROFILING_ENABLED ? System.nanoTime() : 0;

if (!initialized) {
// Set turn zero from preferences
Rotation2d turnZeroFromCancoder = inputs.turnZero;
Preferences.initDouble(ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians());
Rotation2d turnZeroFromPreferences =
new Rotation2d(
Preferences.getDouble(
ZERO_ROTATION_KEY + "/" + name, turnZeroFromCancoder.getRadians()));
io.setTurnZero(turnZeroFromPreferences);
Logger.recordOutput(
"Drive/Module" + name + "/TurnZeroRad", turnZeroFromPreferences.getRadians());
initialized = true;
}
// Calculate positions for odometry
int sampleCount = inputs.odometryTimestamps.length; // All signals are sampled together
odometryPositions = new SwerveModulePosition[sampleCount];
Expand Down
Loading