Fix swerve module sim - #89

Merged

brettle merged 20 commits into

fix-SwerveModuleSim

May 16, 2024

Commits on May 15, 2024

Fix SwerveModuleSim to use "Position" instead of "count" so that in conforms to new MockedEncoder.
brettle
committed
794ec18
Fix name of encoder sim device.
brettle
committed
5185ea8
Fix name of encoder sim device.
brettle
committed
f7a5a0d
Add basic test of MockSparkMax.
brettle
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4c05491
Make SwerveModuleSim more robust.
brettle
committed
31728f9
Comment out code that houldn't be needed.
brettle
committed
63fcb12
Change name of sim value from "Motor Output" to "Speed" to match latest MockSparkMax.
brettle
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2a01042
Catch and log exceptions thrown during asyncPeriodic methods.
brettle
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cbe15df
Don't start MockSparkMax async periodic calls until after it is fully initialized to avoid race condition where where pidControllerImpl is not set when getRequestedSpeed() is called.
brettle
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90b1bec
Use correct number of encoder counts.
brettle
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5fd1ba9
Run asyncPeriodic at 1kHz, which is the speed motor controller PID loops run at.
brettle
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364d2b2
Fix double inversion in duty cyle mode.
brettle
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a77fd04
Don't invert the drive motor position based on driveInversion.
brettle
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761f6c9
Don't invert the turnEncoderSim value based on turnInversion.
brettle
committed
76102fe
Always invert the turnEncoderSim direction because of the way that the CANCoder is mounted.
brettle
committed
7018f0f

Commits on May 16, 2024