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CrossTheRoadElec / Phoenix-Releases

Release repository for Phoenix-Framework and Phoenix-Tuner
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Native (firmware) support for `setVoltage` #31

Closed Oblarg closed 1 year ago

Oblarg commented 2 years ago

The WPILib setVoltage method has a functional default behavior, but the Talon's internal voltage compensation is almost certainly better. It'd be nice if the WPILib method would delegate to the internal motor controller firmware for the voltage compensation - this would also eliminate the need to warn users of setVoltage when voltage compensation is enabled.

This doesn't necessarily fit cleanly into the current user-side API architecture, but I think the increase in user experience would probably be worth the engineering cost. As it stands, a lot of effort is spent explaining to users how to delegate to Talon voltage control when using on-RIO control loops - if the function delegated, this would work "automatically."

JCaporuscio commented 1 year ago

This is now available to all users with Phoenix v6, so closing the issue