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thenetworkgrinchthenetworkgrinch
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TalonFX and TalonFXS changed to use Fused instead of remote and removed redundant pro license check.
Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
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+18
-54
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2 files changed

+18
-54
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‎yams/java/yams/motorcontrollers/remote/TalonFXSWrapper.java‎

Lines changed: 9 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -700,8 +700,9 @@ public boolean applyConfig(SmartMotorControllerConfig config)
700700
" because an external encoder is used!", false);
701701
}
702702
// Set the gear ratio for external encoders.
703-
m_talonConfig.ExternalFeedback.RotorToSensorRatio = config.getGearing().getRotorToMechanismRatio() * config.getExternalEncoderGearing()
704-
.getMechanismToRotorRatio();
703+
m_talonConfig.ExternalFeedback.RotorToSensorRatio = config.getGearing().getRotorToMechanismRatio() *
704+
config.getExternalEncoderGearing()
705+
.getMechanismToRotorRatio();
705706
// config.getExternalEncoderGearing().getMechanismToRotorRatio() *
706707
m_talonConfig.ExternalFeedback.SensorToMechanismRatio = config.getExternalEncoderGearing()
707708
.getMechanismToRotorRatio();
@@ -717,13 +718,7 @@ public boolean applyConfig(SmartMotorControllerConfig config)
717718
: SensorDirectionValue.CounterClockwise_Positive);
718719

719720
// Configure feedback source for CANCoder
720-
//if (encoder.getIsProLicensed().getValue())
721-
//{
722-
// m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.SyncCANcoder;
723-
//} else
724-
//{
725-
m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.FusedCANcoder;
726-
//}
721+
m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.FusedCANcoder;
727722
// Zero offset
728723
if (config.getZeroOffset().isPresent())
729724
{
@@ -746,26 +741,13 @@ public boolean applyConfig(SmartMotorControllerConfig config)
746741
configurator.refresh(cfg);
747742
m_talonConfig.ExternalFeedback.FeedbackRemoteSensorID = encoder.getDeviceID();
748743
// Ensure pro uses best option.
749-
if (encoder.getIsProLicensed().getValue())
744+
if (useCANdiPWM2())
750745
{
751-
if (useCANdiPWM2())
752-
{
753-
m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.SyncCANdiPWM2;
754-
}
755-
if (useCANdiPWM1())
756-
{
757-
m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.SyncCANdiPWM1;
758-
}
759-
} else
746+
m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.FusedCANdiPWM2;
747+
}
748+
if (useCANdiPWM1())
760749
{
761-
if (useCANdiPWM2())
762-
{
763-
m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.RemoteCANdiPWM2;
764-
}
765-
if (useCANdiPWM1())
766-
{
767-
m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.RemoteCANdiPWM1;
768-
}
750+
m_talonConfig.ExternalFeedback.ExternalFeedbackSensorSource = ExternalFeedbackSensorSourceValue.FusedCANdiPWM1;
769751
}
770752
if (useCANdiPWM1())
771753
{

‎yams/java/yams/motorcontrollers/remote/TalonFXWrapper.java‎

Lines changed: 9 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -653,8 +653,9 @@ public boolean applyConfig(SmartMotorControllerConfig config)
653653
" because an external encoder is used!", false);
654654
}
655655
// Set the gear ratio for external encoders.
656-
m_talonConfig.Feedback.RotorToSensorRatio = config.getGearing().getRotorToMechanismRatio() * config.getExternalEncoderGearing()
657-
.getMechanismToRotorRatio();
656+
m_talonConfig.Feedback.RotorToSensorRatio = config.getGearing().getRotorToMechanismRatio() *
657+
config.getExternalEncoderGearing()
658+
.getMechanismToRotorRatio();
658659
// config.getExternalEncoderGearing().getMechanismToRotorRatio() *
659660
m_talonConfig.Feedback.SensorToMechanismRatio = config.getExternalEncoderGearing()
660661
.getMechanismToRotorRatio();
@@ -670,13 +671,7 @@ public boolean applyConfig(SmartMotorControllerConfig config)
670671
: SensorDirectionValue.CounterClockwise_Positive);
671672

672673
// Configure feedback source for CANCoder
673-
//if (encoder.getIsProLicensed().getValue())
674-
//{
675-
// m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.SyncCANcoder;
676-
//} else
677-
//{
678-
m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder;
679-
//}
674+
m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder;
680675
// Zero offset
681676
if (config.getZeroOffset().isPresent())
682677
{
@@ -699,26 +694,13 @@ public boolean applyConfig(SmartMotorControllerConfig config)
699694
configurator.refresh(cfg);
700695
m_talonConfig.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID();
701696
// Ensure pro uses best option.
702-
if (encoder.getIsProLicensed().getValue())
697+
if (useCANdiPWM2())
703698
{
704-
if (useCANdiPWM2())
705-
{
706-
m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.SyncCANdiPWM2;
707-
}
708-
if (useCANdiPWM1())
709-
{
710-
m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.SyncCANdiPWM1;
711-
}
712-
} else
699+
m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANdiPWM2;
700+
}
701+
if (useCANdiPWM1())
713702
{
714-
if (useCANdiPWM2())
715-
{
716-
m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANdiPWM2;
717-
}
718-
if (useCANdiPWM1())
719-
{
720-
m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANdiPWM1;
721-
}
703+
m_talonConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANdiPWM1;
722704
}
723705
if (useCANdiPWM1())
724706
{

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