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Adds Mk4i configurations #9

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Adds Mk4i configurations #9

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5 changes: 4 additions & 1 deletion src/main/java/com/swervedrivespecialties/swervelib/Mk4SwerveModuleHelper.java
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Original file line number Diff line number Diff line change
Expand Up @@ -492,7 +492,10 @@ public enum GearRatio {
L1(SdsModuleConfigurations.MK4_L1),
L2(SdsModuleConfigurations.MK4_L2),
L3(SdsModuleConfigurations.MK4_L3),
L4(SdsModuleConfigurations.MK4_L4);
L4(SdsModuleConfigurations.MK4_L4),
L1I(SdsModuleConfigurations.MK4I_L1),
L2I(SdsModuleConfigurations.MK4I_L2),
L3I(SdsModuleConfigurations.MK4I_L3);

private final ModuleConfiguration configuration;

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22 changes: 22 additions & 0 deletions src/main/java/com/swervedrivespecialties/swervelib/SdsModuleConfigurations.java
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Expand Up @@ -45,6 +45,28 @@ public final class SdsModuleConfigurations {
true
);

public static final ModuleConfiguration MK4I_L1 = new ModuleConfiguration(
0.10033,
(14.0 / 50.0) * (25.0 / 19.0) * (15.0 / 45.0),
true,
(14.0 / 50.0) * (10.0 / 60.0),
false
);
public static final ModuleConfiguration MK4I_L2 = new ModuleConfiguration(
0.10033,
(14.0 / 50.0) * (27.0 / 17.0) * (15.0 / 45.0),
true,
(14.0 / 50.0) * (10.0 / 60.0),
false
);
public static final ModuleConfiguration MK4I_L3 = new ModuleConfiguration(
0.10033,
(14.0 / 50.0) * (28.0 / 16.0) * (15.0 / 45.0),
true,
(14.0 / 50.0) * (10.0 / 60.0),
false
);

private SdsModuleConfigurations() {
}
}
4 changes: 2 additions & 2 deletions ...ava/com/swervedrivespecialties/swervelib/ctre/Falcon500SteerControllerFactoryBuilder.java
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Expand Up @@ -122,8 +122,8 @@ public ControllerImplementation create(Falcon500SteerConfiguration<T> steerConfi
motor.enableVoltageCompensation(true);
}
checkCtreError(motor.configSelectedFeedbackSensor(TalonFXFeedbackDevice.IntegratedSensor, 0, CAN_TIMEOUT_MS), "Failed to set Falcon 500 feedback sensor");
motor.setSensorPhase(moduleConfiguration.isSteerInverted());
motor.setInverted(TalonFXInvertType.CounterClockwise);
motor.setSensorPhase(true);
motor.setInverted(moduleConfiguration.isSteerInverted() ? TalonFXInvertType.CounterClockwise : TalonFXInvertType.Clockwise);
Comment on lines +125 to +126
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@ZachOrr ZachOrr Feb 1, 2022 •
edited
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This bit should be confirmed as correct. The motors need to be flipped for the Mk4i modules - but it makes sense to me that you'd invert the motor as opposed to inverting the sensor phase. Is there a reason to invert the sensor phase instead of the motor direction?

motor.setNeutralMode(NeutralMode.Brake);

checkCtreError(motor.setSelectedSensorPosition(absoluteEncoder.getAbsoluteAngle() / sensorPositionCoefficient, 0, CAN_TIMEOUT_MS), "Failed to set Falcon 500 encoder position");
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