Fixed Apply Configs for SparkMXFX_interm and TalonFX_interm

Team846 · Jan 11, 2025 · 51b8ace · 51b8ace
1 parent f5561b8
commit 51b8ace
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Showing 6 changed files with 41 additions and 37 deletions.
diff --git a/style.standard → .clang-format b/style.standard → .clang-format
diff --git a/README.md b/README.md
@@ -173,8 +173,8 @@ To undo the going back:
 
 ## CppCheck Warnings
 ```
-src/frc846/cpp/frc846/robot/swerve/drivetrain.cc:160:64: warning: Variable 'accel_target' is assigned a value that is never used. [unreadVariable]
-src/frc846/cpp/frc846/math/collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
-src/frc846/cpp/frc846/math/collection.cc:39:0: warning: The function 'CoterminalDifference' is never used. [unusedFunction]
-src/frc846/cpp/frc846/math/collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
+src\frc846\cpp\frc846\robot\swerve\drivetrain.cc:160:64: warning: Variable 'accel_target' is assigned a value that is never used. [unreadVariable]
+src\frc846\cpp\frc846\math\collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]
+src\frc846\cpp\frc846\math\collection.cc:39:0: warning: The function 'CoterminalDifference' is never used. [unusedFunction]
+src\frc846\cpp\frc846\math\collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]
 ```
diff --git a/build.gradle b/build.gradle
@@ -24,8 +24,10 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/y2025/deploy')
                     directory = '/home/lvuser/deploy'
-                    deleteOldFiles = false  // Change to true to delete files on roboRIO that no
-                                            // longer exist in deploy directory of this project
+
+
+                    // Set deleteOldFiles to true to clear files in deploy/ on RIO that aren't in this project
+                    deleteOldFiles = true  
                 }
             }
         }
@@ -115,7 +117,7 @@ spotless {
         }
         def selectedClangVersion = project.hasProperty('fromCI') ? '18.1.8' : '18.1.8'
 
-        def styleFile = file('style.standard')
+        def styleFile = file('.clang-format')
         def styleConfig = styleFile.text.trim()
 
         clangFormat(selectedClangVersion).style(styleConfig)

diff --git a/src/frc846/cpp/frc846/control/hardware/SparkMXFX_interm.cc b/src/frc846/cpp/frc846/control/hardware/SparkMXFX_interm.cc
@@ -5,27 +5,23 @@
 namespace frc846::control::hardware {
 
 #define set_last_error(code) last_error_ = getErrorCode(code)
-#define set_last_error_and_break(code) \
-  set_last_error(code);                \
-  if (last_error_ != ControllerErrorCodes::kAllOK) return
+
+#define CONFIG_RESET rev::spark::SparkBase::ResetMode::kResetSafeParameters
+#define NO_CONFIG_RESET rev::spark::SparkBase::ResetMode::kNoResetSafeParameters
+
+#define PERSIST_PARAMS rev::spark::SparkBase::PersistMode::kPersistParameters
+#define NO_PERSIST_PARAMS \
+  rev::spark::SparkBase::PersistMode::kNoPersistParameters
+
+#define APPLY_CONFIG_NO_RESET() \
+  set_last_error(esc_->Configure(configs, NO_CONFIG_RESET, NO_PERSIST_PARAMS))
 
 bool SparkMXFX_interm::VerifyConnected() {
   if (esc_ == nullptr) return false;
   esc_->GetFirmwareVersion();
   return esc_->GetFirmwareVersion() != 0;
 }
 
-// This will make all soft configs reset
-#define RESET rev::spark::SparkBase::ResetMode::kResetSafeParameters
-// This will make all soft configs not reset
-#define DONT_RESET rev::spark::SparkBase::ResetMode::kNoResetSafeParameters
-
-// This will make configs persist through power cycles
-#define PERSIST_PARAMS rev::spark::SparkBase::PersistMode::kPersistParameters
-// Configs will not persist through power cycles
-#define DONT_PERSIST_PARAMS \
-  rev::spark::SparkBase::PersistMode::kNoPersistParameters
-
 SparkMXFX_interm::SparkMXFX_interm(int can_id,
     units::millisecond_t max_wait_time, bool is_controller_spark_flex) {
   esc_ = is_controller_spark_flex
@@ -36,8 +32,9 @@ SparkMXFX_interm::SparkMXFX_interm(int can_id,
   encoder_ = new rev::spark::SparkRelativeEncoder{esc_->GetEncoder()};
   pid_controller_ = new rev::spark::SparkClosedLoopController{
       esc_->GetClosedLoopController()};
-  esc_->Configure(configs, RESET, PERSIST_PARAMS);
-  esc_->SetCANTimeout(max_wait_time.to<int>());
+
+  set_last_error(esc_->Configure(configs, CONFIG_RESET, NO_PERSIST_PARAMS));
+  set_last_error(esc_->SetCANTimeout(max_wait_time.to<int>()));
 }
 
 void SparkMXFX_interm::Tick() {
@@ -59,19 +56,22 @@ void SparkMXFX_interm::Tick() {
 
 void SparkMXFX_interm::SetInverted(bool inverted) {
   configs.Inverted(inverted);
-  set_last_error(esc_->Configure(configs, DONT_RESET, PERSIST_PARAMS));
+
+  APPLY_CONFIG_NO_RESET();
 }
 
 void SparkMXFX_interm::SetNeutralMode(bool brake_mode) {
   configs.SetIdleMode(brake_mode
                           ? rev::spark::SparkBaseConfig::IdleMode::kBrake
                           : rev::spark::SparkBaseConfig::IdleMode::kCoast);
-  set_last_error(esc_->Configure(configs, DONT_RESET, PERSIST_PARAMS));
+
+  APPLY_CONFIG_NO_RESET();
 }
 
 void SparkMXFX_interm::SetCurrentLimit(units::ampere_t current_limit) {
   configs.SmartCurrentLimit(current_limit.to<int>());
-  set_last_error(esc_->Configure(configs, DONT_RESET, PERSIST_PARAMS));
+
+  APPLY_CONFIG_NO_RESET();
 }
 
 void SparkMXFX_interm::SetSoftLimits(
@@ -80,19 +80,22 @@ void SparkMXFX_interm::SetSoftLimits(
       .ForwardSoftLimit(forward_limit.to<double>())
       .ReverseSoftLimitEnabled(true)
       .ReverseSoftLimit(reverse_limit.to<double>());
-  set_last_error(esc_->Configure(configs, DONT_RESET, PERSIST_PARAMS));
+
+  APPLY_CONFIG_NO_RESET();
 }
 
 void SparkMXFX_interm::SetVoltageCompensation(
     units::volt_t voltage_compensation) {
   configs.VoltageCompensation(voltage_compensation.to<double>());
-  set_last_error(esc_->Configure(configs, DONT_RESET, PERSIST_PARAMS));
+
+  APPLY_CONFIG_NO_RESET();
 }
 
 void SparkMXFX_interm::SetGains(frc846::control::base::MotorGains gains) {
   gains_ = gains;
   configs.closedLoop.Pidf(gains_.kP, gains_.kI, gains_.kD, gains_.kFF);
-  set_last_error(esc_->Configure(configs, DONT_RESET, PERSIST_PARAMS));
+
+  APPLY_CONFIG_NO_RESET();
 }
 
 void SparkMXFX_interm::WriteDC(double duty_cycle) {
@@ -107,8 +110,6 @@ void SparkMXFX_interm::WritePosition(units::radian_t position) {
 
 void SparkMXFX_interm::EnableStatusFrames(
     std::vector<frc846::control::config::StatusFrame> frames) {
-  rev::REVLibError last_status_code;
-
   if (vector_has(frames, config::StatusFrame::kLeader) ||
       vector_has(frames, config::StatusFrame::kFaultFrame)) {
     configs.signals.FaultsPeriodMs(20);
@@ -143,8 +144,7 @@ void SparkMXFX_interm::EnableStatusFrames(
     configs.signals.AnalogPositionAlwaysOn(false);
   }
 
-  set_last_error_and_break(
-      esc_->Configure(configs, DONT_RESET, PERSIST_PARAMS));
+  APPLY_CONFIG_NO_RESET();
 }
 
 bool SparkMXFX_interm::IsDuplicateControlMessage(double duty_cycle) {

diff --git a/src/frc846/cpp/frc846/control/hardware/TalonFX_interm.cc b/src/frc846/cpp/frc846/control/hardware/TalonFX_interm.cc
@@ -29,14 +29,18 @@ void TalonFX_interm::Tick() {
 }
 
 void TalonFX_interm::SetInverted(bool inverted) {
-  config.MotorOutput.Inverted = inverted;
-  last_error_ = getErrorCode(talon_.GetConfigurator().Apply(config));
+  ctre::phoenix6::configs::MotorOutputConfigs motor_output_config{};
+  motor_output_config.WithInverted(inverted);
+  last_error_ =
+      getErrorCode(talon_.GetConfigurator().Apply(motor_output_config));
 }
+
 void TalonFX_interm::SetNeutralMode(bool brake_mode) {
   talon_.SetNeutralMode(brake_mode
                             ? ctre::phoenix6::signals::NeutralModeValue::Brake
                             : ctre::phoenix6::signals::NeutralModeValue::Coast);
 }
+
 void TalonFX_interm::SetCurrentLimit(units::ampere_t current_limit) {
   ctre::phoenix6::configs::CurrentLimitsConfigs configs{};
   configs.WithSupplyCurrentLimitEnable(false);

diff --git a/src/frc846/include/frc846/control/hardware/TalonFX_interm.h b/src/frc846/include/frc846/control/hardware/TalonFX_interm.h
@@ -211,8 +211,6 @@ class TalonFX_interm : public IntermediateController {
 
   ctre::phoenix6::hardware::TalonFX talon_;
 
-  ctre::phoenix6::configs::TalonFXConfiguration config{};
-
   frc846::control::hardware::ControllerErrorCodes last_error_;
 
   units::millisecond_t max_wait_time_;