There is a problem here.... the seeding for the steering Falcon500 has been removed. It is there for the NEO builder, why did it get removed here?Should look something like this:
// YES THE COMMENT IS FOR NEOS. THAT IS HOW SDS HAD IT, NOT MY FAULT. IT APPLIES
// TO FALCONS
// Reset the NEO's encoder periodically when the module is not rotating.
// Sometimes (~5% of the time) when we initialize, the absolute encoder isn't
// fully set up, and we don't
// end up getting a good reading. If we reset periodically this won't matter
// anymore.
if (motor.getSelectedSensorVelocity() * motorEncoderVelocityCoefficient < ENCODER_RESET_MAX_ANGULAR_VELOCITY) {
if (++resetIteration >= ENCODER_RESET_ITERATIONS) {
resetIteration = 0;
double absoluteAngle = absoluteEncoder.getAbsoluteAngle().getRadians();
motor.setSelectedSensorPosition(absoluteAngle / motorEncoderPositionCoefficient);
currentAngleRadians = absoluteAngle;
}
} else {
resetIteration = 0;
}
Again, I have made my own fork and I hope maybe you could take a look at mine for reference.
I believe there is a way for me to submit a pull request, but i dont know how to only request one particular change, thats my weakness.
The fork is under team 3534 organization, HOC-Team-3534.
Falcon500SteerControllerFactoryBuilder.java > setReferenceAngle
There is a problem here.... the seeding for the steering Falcon500 has been removed. It is there for the NEO builder, why did it get removed here?Should look something like this:
Again, I have made my own fork and I hope maybe you could take a look at mine for reference.
I believe there is a way for me to submit a pull request, but i dont know how to only request one particular change, thats my weakness. The fork is under team 3534 organization, HOC-Team-3534.