Corrected REV conversion factors part 2

frc-5160-the-chargers · Oct 3, 2024 · d3b24c5 · d3b24c5
1 parent e786896
commit d3b24c5
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Showing 2 changed files with 24 additions and 9 deletions.
diff --git a/src/main/kotlin/frc/chargers/hardware/motorcontrol/ChargerSpark.kt b/src/main/kotlin/frc/chargers/hardware/motorcontrol/ChargerSpark.kt
@@ -115,7 +115,11 @@ open class ChargerSpark<BaseMotorType: CANSparkBase>(
     override val inverted: Boolean get() = base.inverted
 
     override fun setPositionSetpoint(position: Angle, feedforward: Voltage) {
-        require(positionPIDConfigured){" You must specify a positionPID value using the configure(positionPID = PIDConstants(p,i,d)) method. "}
+        if (!positionPIDConfigured) {
+            DriverStation.reportError("You must specify a positionPID value using the " +
+                    "motor.configure(positionPID = PIDConstants(p,i,d)) method.", true)
+            return
+        }
         base.pidController.setReference(
             position.inUnit(rotations),
             CANSparkBase.ControlType.kPosition,
@@ -125,14 +129,17 @@ open class ChargerSpark<BaseMotorType: CANSparkBase>(
     }
 
     override fun setVelocitySetpoint(velocity: AngularVelocity, feedforward: Voltage) {
-        require(velocityPIDConfigured){" You must specify a velocityPID value using the configure(velocityPID = PIDConstants(p,i,d)) method. "}
-        val velocityAsDouble = if (useAbsoluteEncoder) {
-            velocity.inUnit(rotations / minutes)
-        } else {
-            velocity.inUnit(rotations / seconds)
+        if (!velocityPIDConfigured) {
+            DriverStation.reportError("You must specify a positionPID value using the " +
+                    "motor.configure(velocityPID = PIDConstants(p,i,d)) method.", true)
+            return
         }
         base.pidController.setReference(
-            velocityAsDouble,
+            if (useAbsoluteEncoder) {
+                velocity.inUnit(rotations / seconds)
+            } else {
+                velocity.inUnit(rotations / minutes)
+            },
             CANSparkBase.ControlType.kVelocity,
             1,
             feedforward.inUnit(volts)

diff --git a/src/main/kotlin/frc/chargers/hardware/motorcontrol/ChargerTalonFX.kt b/src/main/kotlin/frc/chargers/hardware/motorcontrol/ChargerTalonFX.kt
@@ -94,15 +94,23 @@ class ChargerTalonFX(
     override val inverted: Boolean get() = base.inverted
 
     override fun setPositionSetpoint(position: Angle, feedforward: Voltage) {
-        require(positionPIDConfigured){" You must specify a positionPID value using the configure(positionPID = PIDConstants(p,i,d)) method. "}
+        if (!positionPIDConfigured) {
+            DriverStation.reportError("You must specify a positionPID value using the " +
+                    "motor.configure(positionPID = PIDConstants(p,i,d)) method.", true)
+            return
+        }
         setPosRequest.Position = position.inUnit(rotations)
         setPosRequest.FeedForward = feedforward.inUnit(volts)
         base.setControl(setPosRequest)
         nonTalonFXFollowers.forEach{ it.setPositionSetpoint(position, feedforward) }
     }
 
     override fun setVelocitySetpoint(velocity: AngularVelocity, feedforward: Voltage) {
-        require(velocityPIDConfigured){" You must specify a velocityPID value using the configure(velocityPID = PIDConstants(p,i,d)) method. "}
+        if (!velocityPIDConfigured) {
+            DriverStation.reportError("You must specify a positionPID value using the " +
+                    "motor.configure(velocityPID = PIDConstants(p,i,d)) method.", true)
+            return
+        }
         setVelRequest.Velocity = velocity.inUnit(rotations / seconds)
         setVelRequest.FeedForward = feedforward.inUnit(volts)
         base.setControl(setVelRequest)