Merge branch 'main' of github.com:BroncBotz3481/YAGSL

BroncBotz3481 · Nov 29, 2023 · 3d19a44 · 3d19a44
2 parents c551269 + d0d986f
commit 3d19a44
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Showing 3 changed files with 21 additions and 1 deletion.
diff --git a/README.md b/README.md
@@ -20,7 +20,7 @@ SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory(
 # Library Information
 ### Installation
 - [ ] Install NavX Library
-- [ ] Install Pheonix Library
+- [ ] Install Phoenix Library
 - [ ] Install REVLib.
 - [ ] Install YAGSL (`https://broncbotz3481.github.io/YAGSL-Lib/yagsl/yagsl.json`)  
 

diff --git a/swervelib/SwerveDrive.java b/swervelib/SwerveDrive.java
@@ -901,6 +901,8 @@ public void updateOdometry()
               "Module[" + module.configuration.name + "] Relative Encoder", module.getRelativePosition());
           SmartDashboard.putNumber(
               "Module[" + module.configuration.name + "] Absolute Encoder", module.getAbsolutePosition());
+          SmartDashboard.putNumber(
+                "Module[" + module.configuration.name + "] Absolute Encoder Read Issue", module.getAbsoluteEncoderReadIssue());
         }
         if (SwerveDriveTelemetry.verbosity.ordinal() >= TelemetryVerbosity.HIGH.ordinal())
         {

diff --git a/swervelib/SwerveModule.java b/swervelib/SwerveModule.java
@@ -65,6 +65,11 @@ public class SwerveModule
    */
   private boolean                synchronizeEncoderQueued = false;
 
+  /**
+   * Absolute Encoder Read Issue Dectected. 
+   */
+  public boolean                  absoluteEncoderReadIssue = false;
+
   /**
    * Construct the swerve module and initialize the swerve module motors and absolute encoder.
    *
@@ -298,13 +303,16 @@ public double getAbsolutePosition()
     double angle;
     if (absoluteEncoder != null)
     {
+      absoluteEncoderReadIssue = false;
       angle = absoluteEncoder.getAbsolutePosition() - angleOffset;
       if (absoluteEncoder.readingError)
       {
+        absoluteEncoderReadIssue = true;
         angle = getRelativePosition();
       }
     } else
     {
+      absoluteEncoderReadIssue = true;
       angle = getRelativePosition();
     }
     angle %= 360;
@@ -387,4 +395,14 @@ public SwerveModuleConfiguration getConfiguration()
   {
     return configuration;
   }
+
+  /*
+   * Get if the last Absolute Encoder had a read issue.
+   * 
+   * @return If the last Absolute Encoder had a read issue.
+   */
+  public boolean getAbsoluteEncoderReadIssue()
+  {
+    return absoluteEncoderReadIssue;
+  }
 }