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Add fallback encoders to SwerveModule #52

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CoolSpy3 opened this issue Jun 29, 2023 · 1 comment · May be fixed by #85
Open

Add fallback encoders to SwerveModule #52

CoolSpy3 opened this issue Jun 29, 2023 · 1 comment · May be fixed by #85
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enhancement New feature or request

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As mentioned in the lib199 tour, SwerveModule could be updated to get an initial angle from the CANCoders, and then fallback on the Spark Maxs' relative encoders if the CANCoders are disconnected. (It should probably print an error message). Then, if the encoder reconnects, it can re-synchronize its position and return to using the CANCoder data.
@CoolSpy3 CoolSpy3 added the enhancement New feature or request label Jun 29, 2023
@CoolSpy3 CoolSpy3 self-assigned this Jul 6, 2023
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@CoolSpy3 CoolSpy3 linked a pull request May 25, 2024 that will close this issue
Fallback swerve cancoders #85
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Fallback swerve cancoders DeepBlueRobotics/lib199
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