Optimized and fixed absolute encoder inversion for SparkMAX attached …

…encoders. Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jan 10, 2025 · ddd58e0 · ddd58e0
1 parent f3f59ca
commit ddd58e0
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Showing 5 changed files with 20 additions and 8 deletions.
diff --git a/src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java b/src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
@@ -110,12 +110,12 @@ public void configure(boolean inverted)
     if (sparkMax instanceof SparkMaxSwerve)
     {
       SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
-      cfg.analogSensor.inverted(true);
+      cfg.analogSensor.inverted(inverted);
       ((SparkMaxSwerve) sparkMax).updateConfig(cfg);
     } else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
     {
       SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
-      cfg.analogSensor.inverted(true);
+      cfg.analogSensor.inverted(inverted);
       ((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
     }
   }

diff --git a/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java b/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java
@@ -46,7 +46,7 @@ public SparkMaxEncoderSwerve(SwerveMotor motor, int conversionFactor)
   {
     failureConfiguring = new Alert(
         "Encoders",
-        "Failure configuring SparkMax Analog Encoder",
+        "Failure configuring SparkMax Absolute Encoder",
         AlertType.kWarning);
     offsetFailure = new Alert(
         "Encoders",
@@ -110,12 +110,12 @@ public void configure(boolean inverted)
     if (sparkMax instanceof SparkMaxSwerve)
     {
       SparkMaxConfig cfg = ((SparkMaxSwerve) sparkMax).getConfig();
-      cfg.analogSensor.inverted(true);
+      cfg.absoluteEncoder.inverted(inverted);
       ((SparkMaxSwerve) sparkMax).updateConfig(cfg);
     } else if (sparkMax instanceof SparkMaxBrushedMotorSwerve)
     {
       SparkMaxConfig cfg = ((SparkMaxBrushedMotorSwerve) sparkMax).getConfig();
-      cfg.analogSensor.inverted(true);
+      cfg.absoluteEncoder.inverted(inverted);
       ((SparkMaxBrushedMotorSwerve) sparkMax).updateConfig(cfg);
     }
   }

diff --git a/src/main/java/swervelib/motors/SparkFlexSwerve.java b/src/main/java/swervelib/motors/SparkFlexSwerve.java
@@ -33,6 +33,10 @@
 public class SparkFlexSwerve extends SwerveMotor
 {
 
+  /**
+   * Config retry delay.
+   */
+  private final double configDelay = Milliseconds.of(5).in(Seconds);
   /**
    * {@link SparkFlex} Instance.
    */
@@ -120,7 +124,7 @@ private void configureSparkFlex(Supplier<REVLibError> config)
       {
         return;
       }
-      Timer.delay(Milliseconds.of(5).in(Seconds));
+      Timer.delay(configDelay);
     }
     failureConfiguring.set(true);
   }

diff --git a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
@@ -35,6 +35,10 @@
 public class SparkMaxBrushedMotorSwerve extends SwerveMotor
 {
 
+  /**
+   * Config retry delay.
+   */
+  private final double configDelay = Milliseconds.of(5).in(Seconds);
   /**
    * SparkMAX Instance.
    */
@@ -187,7 +191,7 @@ private void configureSparkMax(Supplier<REVLibError> config)
       {
         return;
       }
-      Timer.delay(Milliseconds.of(5).in(Seconds));
+      Timer.delay(configDelay);
     }
     failureConfiguringAlert.set(true);
   }

diff --git a/src/main/java/swervelib/motors/SparkMaxSwerve.java b/src/main/java/swervelib/motors/SparkMaxSwerve.java
@@ -33,6 +33,10 @@
 public class SparkMaxSwerve extends SwerveMotor
 {
 
+  /**
+   * Config retry delay.
+   */
+  private final double configDelay = Milliseconds.of(5).in(Seconds);
   /**
    * {@link SparkMax} Instance.
    */
@@ -119,7 +123,7 @@ private void configureSparkMax(Supplier<REVLibError> config)
       {
         return;
       }
-      Timer.delay(Milliseconds.of(5).in(Seconds));
+      Timer.delay(configDelay);
     }
     DriverStation.reportWarning("Failure configuring motor " + motor.getDeviceId(), true);
   }