Update code to use new Phoenix/WPILib beta features

CrossTheRoadElec · Oct 19, 2023 · 5fa6ba7 · 5fa6ba7
1 parent ebd9cda
commit 5fa6ba7
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Showing 18 changed files with 52 additions and 50 deletions.
diff --git a/cpp/CommandBasedDrive/.vscode/settings.json b/cpp/CommandBasedDrive/.vscode/settings.json
@@ -14,5 +14,8 @@
     "**/.factorypath": true,
     "**/*~": true
   },
-  "C_Cpp.default.configurationProvider": "vscode-wpilib"
+  "C_Cpp.default.configurationProvider": "vscode-wpilib",
+  "files.associations": {
+    "concepts": "cpp"
+  }
 }
diff --git a/cpp/CommandBasedDrive/src/main/cpp/RobotContainer.cpp b/cpp/CommandBasedDrive/src/main/cpp/RobotContainer.cpp
@@ -8,7 +8,13 @@
 RobotContainer::RobotContainer()
 {
   // Initialize all of your commands and subsystems here
-  m_driveSubsystem.SetDefaultCommand(m_teleopDrive);
+  frc2::RunCommand teleopDrive {[this]()
+                                 {
+                                   /* invert the joystick Y because forward Y is negative */
+                                   m_driveSubsystem.ArcadeDrive(-m_joystick.GetLeftY(), m_joystick.GetRightX());
+                                 },
+                                 {&m_driveSubsystem}};
+  m_driveSubsystem.SetDefaultCommand(std::move(teleopDrive));
 
   // Configure the button bindings
   ConfigureButtonBindings();

diff --git a/cpp/CommandBasedDrive/src/main/cpp/subsystems/DriveSubsystem.cpp b/cpp/CommandBasedDrive/src/main/cpp/subsystems/DriveSubsystem.cpp
@@ -72,7 +72,7 @@ void DriveSubsystem::InitializeLeftDriveTalonFX(ctre::phoenix6::configs::TalonFX
     cfg.Apply(toApply);
 
     /* And initialize position to 0 */
-    cfg.SetRotorPosition(0_tr);
+    cfg.SetPosition(0_tr);
 }
 void DriveSubsystem::InitializeRightDriveTalonFX(ctre::phoenix6::configs::TalonFXConfigurator &cfg)
 {
@@ -84,7 +84,7 @@ void DriveSubsystem::InitializeRightDriveTalonFX(ctre::phoenix6::configs::TalonF
     cfg.Apply(toApply);
 
     /* And initialize position to 0 */
-    cfg.SetRotorPosition(0_tr);
+    cfg.SetPosition(0_tr);
 }
 void DriveSubsystem::InitializePigeon2(ctre::phoenix6::configs::Pigeon2Configurator &cfg)
 {

diff --git a/cpp/CommandBasedDrive/src/main/include/RobotContainer.h b/cpp/CommandBasedDrive/src/main/include/RobotContainer.h
@@ -29,13 +29,6 @@ class RobotContainer
   frc::XboxController m_joystick{0};
 
   DriveSubsystem m_driveSubsystem{};
-
-  frc2::RunCommand m_teleopDrive{[this]()
-                                 {
-                                   /* invert the joystick Y because forward Y is negative */
-                                   m_driveSubsystem.ArcadeDrive(-m_joystick.GetLeftY(), m_joystick.GetRightX());
-                                 },
-                                 {&m_driveSubsystem}};
   DriveStraightCommand m_driveStraightCommand{m_driveSubsystem,
                                               [this]()
                                               { return -m_joystick.GetLeftY(); }};

diff --git a/cpp/FusedCANcoder/src/main/cpp/Robot.cpp b/cpp/FusedCANcoder/src/main/cpp/Robot.cpp
@@ -29,9 +29,9 @@ void Robot::RobotPeriodic() {
     // If any faults happen, print them out. Sticky faults will always be present if live-fault occurs
     f_fusedSensorOutOfSync.Refresh();
     sf_fusedSensorOutOfSync.Refresh();
-    f_missingRemoteSensor.Refresh();
-    sf_missingRemoteSensor.Refresh();
-    bool anyFault = sf_fusedSensorOutOfSync.GetValue() || sf_missingRemoteSensor.GetValue();
+    f_remoteSensorInvalid.Refresh();
+    sf_remoteSensorInvalid.Refresh();
+    bool anyFault = sf_fusedSensorOutOfSync.GetValue() || sf_remoteSensorInvalid.GetValue();
     if(anyFault) {
       std::cout << "A fault has occurred:" << std::endl;;
       /* If we're live, indicate live, otherwise if we're sticky indicate sticky, otherwise do nothing */
@@ -41,9 +41,9 @@ void Robot::RobotPeriodic() {
         std::cout << "Fused sensor out of sync sticky-faulted" << std::endl;
       }
       /* If we're live, indicate live, otherwise if we're sticky indicate sticky, otherwise do nothing */
-      if(f_missingRemoteSensor.GetValue()) {
+      if(f_remoteSensorInvalid.GetValue()) {
         std::cout << "Missing remote sensor live-faulted" << std::endl;
-      } else if (sf_missingRemoteSensor.GetValue()) {
+      } else if (sf_remoteSensorInvalid.GetValue()) {
         std::cout << "Missing remote sensor sticky-faulted" << std::endl;
       }
     }

diff --git a/cpp/FusedCANcoder/src/main/include/Robot.h b/cpp/FusedCANcoder/src/main/include/Robot.h
@@ -34,8 +34,8 @@ class Robot : public frc::TimedRobot {
   ctre::phoenix6::hardware::CANcoder m_cc{1, "fred"};
   ctre::phoenix6::StatusSignal<bool> f_fusedSensorOutOfSync = m_fx.GetFault_FusedSensorOutOfSync();
   ctre::phoenix6::StatusSignal<bool> sf_fusedSensorOutOfSync = m_fx.GetStickyFault_FusedSensorOutOfSync();
-  ctre::phoenix6::StatusSignal<bool> f_missingRemoteSensor = m_fx.GetFault_MissingRemoteSensor();
-  ctre::phoenix6::StatusSignal<bool> sf_missingRemoteSensor = m_fx.GetStickyFault_MissingRemoteSensor();
+  ctre::phoenix6::StatusSignal<bool> f_remoteSensorInvalid = m_fx.GetFault_RemoteSensorDataInvalid();
+  ctre::phoenix6::StatusSignal<bool> sf_remoteSensorInvalid = m_fx.GetStickyFault_RemoteSensorDataInvalid();
 
   ctre::phoenix6::StatusSignal<units::turn_t> fx_pos = m_fx.GetPosition();
   ctre::phoenix6::StatusSignal<units::turns_per_second_t> fx_vel = m_fx.GetVelocity();

diff --git a/cpp/PositionClosedLoop/src/main/cpp/Robot.cpp b/cpp/PositionClosedLoop/src/main/cpp/Robot.cpp
@@ -29,7 +29,7 @@ void Robot::RobotInit() {
   m_fx.GetConfigurator().Apply(configs);
 
   /* Make sure we start at 0 */
-  m_fx.SetRotorPosition(0_tr);
+  m_fx.SetPosition(0_tr);
 }
 void Robot::RobotPeriodic() {}
 

diff --git a/cpp/PositionClosedLoop/src/main/include/Robot.h b/cpp/PositionClosedLoop/src/main/include/Robot.h
@@ -10,8 +10,8 @@
 
 class Robot : public frc::TimedRobot {
   ctre::phoenix6::hardware::TalonFX m_fx{0};
-  ctre::phoenix6::controls::PositionVoltage m_voltagePosition{0_tr, true, 0_V, 0, false};
-  ctre::phoenix6::controls::PositionTorqueCurrentFOC m_torquePosition{0_tr, 0_A, 1, false};
+  ctre::phoenix6::controls::PositionVoltage m_voltagePosition{0_tr, 0_tps, true, 0_V, 0, false};
+  ctre::phoenix6::controls::PositionTorqueCurrentFOC m_torquePosition{0_tr, 0_tps, 0_A, 1, false};
   ctre::phoenix6::controls::StaticBrake m_brake{};
 
   frc::XboxController m_joystick{0};

diff --git a/cpp/VelocityClosedLoop/src/main/include/Robot.h b/cpp/VelocityClosedLoop/src/main/include/Robot.h
@@ -10,8 +10,8 @@
 
 class Robot : public frc::TimedRobot {
   ctre::phoenix6::hardware::TalonFX m_fx{0};
-  ctre::phoenix6::controls::VelocityVoltage m_voltageVelocity{0_tps, true, 0_V, 0, false};
-  ctre::phoenix6::controls::VelocityTorqueCurrentFOC m_torqueVelocity{0_tps, 0_A, 1, false};
+  ctre::phoenix6::controls::VelocityVoltage m_voltageVelocity{0_tps, 0_tr_per_s_sq, true, 0_V, 0, false};
+  ctre::phoenix6::controls::VelocityTorqueCurrentFOC m_torqueVelocity{0_tps, 0_tr_per_s_sq, 0_A, 1, false};
   ctre::phoenix6::controls::StaticBrake m_brake{};
 
   frc::XboxController m_joystick{0};

diff --git a/cpp/WaitForAll/src/main/cpp/Robot.cpp b/cpp/WaitForAll/src/main/cpp/Robot.cpp
@@ -22,23 +22,23 @@ void Robot::RobotPeriodic() {
       ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_lotsOfSignals);
       std::cout << "Status of waiting on signals (normal use case): " << status.GetName() << std::endl;
       for(auto const &sig : m_lotsOfSignals) {
-        std::cout << "Signal status: " << sig->GetError().GetName() << std::endl;
+        std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
       }
     }
     /* If we press the B button, test what happens when we wait on signals from different busses */
     if(m_joystick.GetBButtonPressed()) {
       ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_signalsAcrossCANbuses);
       std::cout << "Status of waiting on signals across different CAN busses: " << status.GetName() << std::endl;
       for(auto const& sig : m_signalsAcrossCANbuses) {
-        std::cout << "Signal status: " << sig->GetError().GetName() << std::endl;
+        std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
       }
     }
     /* If we press the Y button, test what happens when we wait on no signals */
     if(m_joystick.GetYButtonPressed()) {
       ctre::phoenix::StatusCode status = ctre::phoenix6::BaseStatusSignal::WaitForAll(m_waitForAllTimeout, m_noSignals);
       std::cout << "Status of waiting on no signals: " << status.GetName() << std::endl;
       for(auto const& sig : m_noSignals) {
-        std::cout << "Signal status: " << sig->GetError().GetName() << std::endl;
+        std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
       }
     }
     /* If we press the X button, test what happens when we wait on signals with the transcient motor controller */
@@ -49,7 +49,7 @@ void Robot::RobotPeriodic() {
     &m_canbus1transcient2});
       std::cout << "Status of waiting on transcient signals: " << status.GetName() << std::endl;
       for(auto const& sig : m_tanscientSignals) {
-        std::cout << "Signal status: " << sig->GetError().GetName() << std::endl;
+        std::cout << "Signal status: " << sig->GetStatus().GetName() << std::endl;
       }
     }
 }

diff --git a/java/BasicLatencyCompensation/src/test/java/LatencyCompensationTests.java b/java/BasicLatencyCompensation/src/test/java/LatencyCompensationTests.java
@@ -30,7 +30,7 @@ public void testLatencyCompensator() {
         final double position = 35;
         final double velocity = 24;
         /* Initialize by making all the positions 0 */
-        talonfx.setRotorPosition(0);
+        talonfx.setPosition(0);
         cancoder.setPosition(0);
 
         /* Set the simulated state of device positions */

diff --git a/java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/java/CommandBasedDrive/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -254,7 +254,7 @@ private void initializeLeftDriveTalonFX(TalonFXConfigurator cfg) {
         cfg.apply(toApply);
 
         /* And initialize position to 0 */
-        cfg.setRotorPosition(0);
+        cfg.setPosition(0);
     }
 
     /**
@@ -273,7 +273,7 @@ private void initializeRightDriveTalonFX(TalonFXConfigurator cfg) {
         cfg.apply(toApply);
 
         /* And initialize position to 0 */
-        cfg.setRotorPosition(0);
+        cfg.setPosition(0);
     }
 
     /**

diff --git a/java/FusedCANcoder/src/main/java/frc/robot/Robot.java b/java/FusedCANcoder/src/main/java/frc/robot/Robot.java
@@ -28,8 +28,8 @@ public class Robot extends TimedRobot {
   CANcoder m_cc = new CANcoder(1, "fred");
   StatusSignal<Boolean> f_fusedSensorOutOfSync = m_fx.getFault_FusedSensorOutOfSync();
   StatusSignal<Boolean> sf_fusedSensorOutOfSync = m_fx.getStickyFault_FusedSensorOutOfSync();
-  StatusSignal<Boolean> f_missingRemoteSensor = m_fx.getFault_MissingRemoteSensor();
-  StatusSignal<Boolean> sf_missingRemoteSensor = m_fx.getStickyFault_MissingRemoteSensor();
+  StatusSignal<Boolean> f_remoteSensorInvalid = m_fx.getFault_RemoteSensorDataInvalid();
+  StatusSignal<Boolean> sf_remoteSensorInvalid = m_fx.getStickyFault_RemoteSensorDataInvalid();
 
   StatusSignal<Double> fx_pos = m_fx.getPosition();
   StatusSignal<Double> fx_vel = m_fx.getVelocity();
@@ -71,9 +71,9 @@ public void robotPeriodic() {
       // If any faults happen, print them out. Sticky faults will always be present if live-fault occurs
       f_fusedSensorOutOfSync.refresh();
       sf_fusedSensorOutOfSync.refresh();
-      f_missingRemoteSensor.refresh();
-      sf_missingRemoteSensor.refresh();
-      boolean anyFault = sf_fusedSensorOutOfSync.getValue() || sf_missingRemoteSensor.getValue();
+      f_remoteSensorInvalid.refresh();
+      sf_remoteSensorInvalid.refresh();
+      boolean anyFault = sf_fusedSensorOutOfSync.getValue() || sf_remoteSensorInvalid.getValue();
       if(anyFault) {
         System.out.println("A fault has occurred:");
         /* If we're live, indicate live, otherwise if we're sticky indicate sticky, otherwise do nothing */
@@ -83,9 +83,9 @@ public void robotPeriodic() {
           System.out.println("Fused sensor out of sync sticky-faulted");
         }
         /* If we're live, indicate live, otherwise if we're sticky indicate sticky, otherwise do nothing */
-        if(f_missingRemoteSensor.getValue()) {
+        if(f_remoteSensorInvalid.getValue()) {
           System.out.println("Missing remote sensor live-faulted");
-        } else if (sf_missingRemoteSensor.getValue()) {
+        } else if (sf_remoteSensorInvalid.getValue()) {
           System.out.println("Missing remote sensor sticky-faulted");
         }
       }

diff --git a/java/FusedCANcoder/src/test/java/FusedCANcoderTests.java b/java/FusedCANcoder/src/test/java/FusedCANcoderTests.java
@@ -50,7 +50,7 @@ public void testIndividualPos() {
         /* Make sure both are initially set to 0 before messing with sim state */
         retryConfigApply(()->talonSimState.setRawRotorPosition(0));
         retryConfigApply(()->cancoderSimState.setRawPosition(0));
-        retryConfigApply(()->talon.setRotorPosition(0));
+        retryConfigApply(()->talon.setPosition(0));
         retryConfigApply(()->cancoder.setPosition(0));
         /* Wait for sets to take affect */
         BaseStatusSignal.waitForAll(1.0, talonPos, cancoderPos);
@@ -90,7 +90,7 @@ public void testFusedCANcoderPos() {
         /* Make sure both are initially set to 0 before messing with sim state */
         retryConfigApply(()->talonSimState.setRawRotorPosition(0));
         retryConfigApply(()->cancoderSimState.setRawPosition(0));
-        retryConfigApply(()->talon.setRotorPosition(0));
+        retryConfigApply(()->talon.setPosition(0));
         retryConfigApply(()->cancoder.setPosition(0));
         /* Wait for sets to take affect */
         BaseStatusSignal.waitForAll(1.0, talonPos, cancoderPos);
@@ -134,7 +134,7 @@ public void testRemoteCANcoderPos() {
         /* Make sure both are initially set to 0 before messing with sim state */
         retryConfigApply(()->talonSimState.setRawRotorPosition(0));
         retryConfigApply(()->cancoderSimState.setRawPosition(0));
-        retryConfigApply(()->talon.setRotorPosition(0));
+        retryConfigApply(()->talon.setPosition(0));
         retryConfigApply(()->cancoder.setPosition(0));
         /* Wait for sets to take affect */
         BaseStatusSignal.waitForAll(1.0, talonPos, cancoderPos);

diff --git a/java/MotionMagic/src/main/java/frc/robot/Robot.java b/java/MotionMagic/src/main/java/frc/robot/Robot.java
@@ -103,7 +103,7 @@ public void teleopPeriodic() {
 
     m_motor.setControl(m_mmReq.withPosition(leftY * 10).withSlot(0));
     if(m_joystick.getBButton()) {
-      m_motor.setRotorPosition(1);
+      m_motor.setPosition(1);
     }
   }
 

diff --git a/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java b/java/PositionClosedLoop/src/main/java/frc/robot/Robot.java
@@ -25,9 +25,9 @@ public class Robot extends TimedRobot {
 
   /* Be able to switch which control request to use based on a button press */
   /* Start at position 0, enable FOC, no feed forward, use slot 0 */
-  private final PositionVoltage m_voltagePosition = new PositionVoltage(0, true, 0, 0, false);
+  private final PositionVoltage m_voltagePosition = new PositionVoltage(0, 0, true, 0, 0, false);
   /* Start at position 0, no feed forward, use slot 1 */
-  private final PositionTorqueCurrentFOC m_torquePosition = new PositionTorqueCurrentFOC(0, 0, 1, false);
+  private final PositionTorqueCurrentFOC m_torquePosition = new PositionTorqueCurrentFOC(0, 0, 0, 1, false);
   /* Keep a brake request so we can disable the motor */
   private final NeutralOut m_brake = new NeutralOut();
 
@@ -63,7 +63,7 @@ public void robotInit() {
     }
 
     /* Make sure we start at 0 */
-    m_fx.setRotorPosition(0);
+    m_fx.setPosition(0);
   }
 
   @Override

diff --git a/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java b/java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java
@@ -27,9 +27,9 @@ public class Robot extends TimedRobot {
 
   /* Be able to switch which control request to use based on a button press */
   /* Start at velocity 0, enable FOC, no feed forward, use slot 0 */
-  private final VelocityVoltage m_voltageVelocity = new VelocityVoltage(0, true, 0, 0, false);
+  private final VelocityVoltage m_voltageVelocity = new VelocityVoltage(0, 0, true, 0, 0, false);
   /* Start at velocity 0, no feed forward, use slot 1 */
-  private final VelocityTorqueCurrentFOC m_torqueVelocity = new VelocityTorqueCurrentFOC(0, 0, 1, false);
+  private final VelocityTorqueCurrentFOC m_torqueVelocity = new VelocityTorqueCurrentFOC(0, 0, 0, 1, false);
   /* Keep a neutral out so we can disable the motor */
   private final NeutralOut m_brake = new NeutralOut();
 

diff --git a/java/WaitForAll/src/main/java/frc/robot/Robot.java b/java/WaitForAll/src/main/java/frc/robot/Robot.java
@@ -81,31 +81,31 @@ public void robotPeriodic() {
       var status = BaseStatusSignal.waitForAll(m_waitForAllTimeout, m_lotsOfSignals);
       System.out.println("Status of waiting on signals (normal use case): " + status);
       for(var sig : m_lotsOfSignals) {
-        System.out.println("Signal status: " + sig.getError());
+        System.out.println("Signal status: " + sig.getStatus());
       }
     }
     /* If we press the B button, test what happens when we wait on signals from different busses */
     if(m_joystick.getBButtonPressed()) {
       var status = BaseStatusSignal.waitForAll(m_waitForAllTimeout, m_signalsAcrossCANbuses);
       System.out.println("Status of waiting on signals across different CAN busses: " + status);
       for(var sig : m_signalsAcrossCANbuses) {
-        System.out.println("Signal status: " + sig.getError());
+        System.out.println("Signal status: " + sig.getStatus());
       }
     }
     /* If we press the Y button, test what happens when we wait on no signals */
     if(m_joystick.getYButtonPressed()) {
       var status = BaseStatusSignal.waitForAll(m_waitForAllTimeout, m_noSignals);
       System.out.println("Status of waiting on no signals: " + status);
       for(var sig : m_noSignals) {
-        System.out.println("Signal status: " + sig.getError());
+        System.out.println("Signal status: " + sig.getStatus());
       }
     }
     /* If we press the X button, test what happens when we wait on signals with the transcient motor controller */
     if(m_joystick.getXButtonPressed()) {
       var status = BaseStatusSignal.waitForAll(m_waitForAllTimeout, m_tanscientSignals);
       System.out.println("Status of waiting on transcient signals: " + status);
       for(var sig : m_tanscientSignals) {
-        System.out.println("Signal status: " + sig.getError());
+        System.out.println("Signal status: " + sig.getStatus());
       }
     }
   }