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Fallback swerve cancoders #85

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Fallback swerve cancoders #85

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@brettle brettle commented May 15, 2024

@CoolSpy3, you created this branch but hadn't created a PR for it yet. What is the status of this code?

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CoolSpy3 commented May 15, 2024 •
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@CoolSpy3, you created this branch but hadn't created a PR for it yet. What is the status of this code?

IIRC, the code is mostly done, but the cancoderConnected method was unreliable because getLastTimestamp returned incorrect values. I contacted CTRE, and they said that it was likely a library bug, and we should instead make use of the new interfaces exposed in Phoenix 6. Thus, development was put on hold, pending Phoenix 6 lib199 integration.

Seeing as we have now upgraded to Phoenix 6 in 2024-beta, we could have someone look into finishing this up.

@CoolSpy3 CoolSpy3 linked an issue May 25, 2024 that may be closed by this pull request
Add fallback encoders to SwerveModule #52
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Add fallback encoders to SwerveModule
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