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BroncBotz3481 / YAGSL-Example

Yet Another General Swerve Library Example Project
Apache License 2.0
59 stars 146 forks source link

Add Thrifty Nova from The ThriftyBot as a motor controller #221

Open clrozeboom opened 3 months ago

clrozeboom commented 3 months ago

I am working with Ryan Dognaux from The ThriftyBot and Team Thrifty to port their new Thrifty Nova motor controller to YAGSL so that teams will be able to use it before the 2025 build season. I currently have it at least able to use the code in simulation and am hoping to have hardware to test it with soon. Once I'm confident that it works correctly, I can push the implementation down. I may also include a port of the API for the new Thrifty Encoder.

thenetworkgrinch commented 3 months ago

I am so excited for these new controllers and encoders!! Thank you so much for your work as usual! :)

clrozeboom commented 1 month ago

Pushed some changes to you because I saw that others were also getting interested in implementing this. I'm also working on implementing the attached absolute encoder code (ThriftyNovaEncoderSwerve) but as you have noticed, they don't have encoder-wrapping yet, or offsets. I'm hoping I can get actual hardware soon and on a robot to test with. The new ThriftyEncoder wasn't in this release, yet, so that's on the back-burner until they add it to the published API.

thenetworkgrinch commented 1 month ago

Thanks for the PR so far! I love their util functions. It looks like a really nice API thats only going to get better as the product advances! I cant wait to use them either!