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DeepBlueRobotics / lib199

Code that we reuse in different projects/years.
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Fallback swerve cancoders #85

Open brettle opened 1 month ago

brettle commented 1 month ago

@CoolSpy3, you created this branch but hadn't created a PR for it yet. What is the status of this code?

CoolSpy3 commented 1 month ago

@CoolSpy3, you created this branch but hadn't created a PR for it yet. What is the status of this code?

IIRC, the code is mostly done, but the cancoderConnected method was unreliable because getLastTimestamp returned incorrect values. I contacted CTRE, and they said that it was likely a library bug, and we should instead make use of the new interfaces exposed in Phoenix 6. Thus, development was put on hold, pending Phoenix 6 lib199 integration.

Seeing as we have now upgraded to Phoenix 6 in 2024-beta, we could have someone look into finishing this up.