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DeepBlueRobotics / lib199

Code that we reuse in different projects/years.
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Simulation Changes #67

Closed CoolSpy3 closed 5 months ago

CoolSpy3 commented 8 months ago

Some simulation changes I was working on before I left the team. I'm opening this PR so that they don't get lost.

Probably related to DeepBlueRobotics/DeepBlueSim#46.

brettle commented 5 months ago

@CoolSpy3 please mark this as ready for review if you think it's now good to go. I'd like to get it integrated relatively soon.

brettle commented 5 months ago

keep in mind that this updates everything to use the naming semantics from DeepBlueRobotics/DeepBlueSim#46 , so the changes may not be fully compatible with the current simulator.

:+1:

As a side note, I think that that version of the simulator also takes care of gearing, so the getGearing/setGearing methods in MockedCANCoder can probably be deleted.

:+1:

Do you want me to work on this?

I'll work on it but would appreciate your review or input as you have time. (Academics still come first. :smile:).

brettle commented 5 months ago

Done. Let me know if you see anything else. Otherwise mark as ready for review. No rush.

CoolSpy3 commented 5 months ago

Looks good! The one thing I notice is that spark max following of phoenix controllers has a code block, but is left unimplemented. However, given that that is a rare use case, we haven't investigated the relevant following semantics, and the code will print an error, I'm fine to leave that as unsupported for now.