Rename our Falcons to TalonFX
This is done because both the Falcons and Krakens use a TalonFX motor
controller and our api to use them will be the same.
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I97249c5583e42f5ca346e754499748e555cd9f8b
diff --git a/frc971/wpilib/swerve/BUILD b/frc971/wpilib/swerve/BUILD
index 9f559f6..4493781 100644
--- a/frc971/wpilib/swerve/BUILD
+++ b/frc971/wpilib/swerve/BUILD
@@ -13,8 +13,8 @@
"//aos/logging",
"//frc971:can_configuration_fbs",
"//frc971/control_loops/drivetrain/swerve:swerve_drivetrain_output_fbs",
- "//frc971/wpilib:falcon",
"//frc971/wpilib:loop_output_handler",
+ "//frc971/wpilib:talonfx",
"//third_party:phoenix6",
],
)
@@ -25,6 +25,6 @@
"swerve_module.h",
],
deps = [
- "//frc971/wpilib:falcon",
+ "//frc971/wpilib:talonfx",
],
)
diff --git a/frc971/wpilib/swerve/swerve_drivetrain_writer.cc b/frc971/wpilib/swerve/swerve_drivetrain_writer.cc
index bfc5d73..e4b4ee9 100644
--- a/frc971/wpilib/swerve/swerve_drivetrain_writer.cc
+++ b/frc971/wpilib/swerve/swerve_drivetrain_writer.cc
@@ -14,10 +14,10 @@
event_loop->OnRun([this]() { WriteConfigs(); });
}
-void DrivetrainWriter::set_falcons(std::shared_ptr<SwerveModule> front_left,
- std::shared_ptr<SwerveModule> front_right,
- std::shared_ptr<SwerveModule> back_left,
- std::shared_ptr<SwerveModule> back_right) {
+void DrivetrainWriter::set_talonfxs(std::shared_ptr<SwerveModule> front_left,
+ std::shared_ptr<SwerveModule> front_right,
+ std::shared_ptr<SwerveModule> back_left,
+ std::shared_ptr<SwerveModule> back_right) {
front_left_ = std::move(front_left);
front_right_ = std::move(front_right);
back_left_ = std::move(back_left);
diff --git a/frc971/wpilib/swerve/swerve_drivetrain_writer.h b/frc971/wpilib/swerve/swerve_drivetrain_writer.h
index 4bd6639..d02d4dc 100644
--- a/frc971/wpilib/swerve/swerve_drivetrain_writer.h
+++ b/frc971/wpilib/swerve/swerve_drivetrain_writer.h
@@ -5,9 +5,9 @@
#include "frc971/can_configuration_generated.h"
#include "frc971/control_loops/drivetrain/swerve/swerve_drivetrain_output_generated.h"
-#include "frc971/wpilib/falcon.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/swerve/swerve_module.h"
+#include "frc971/wpilib/talonfx.h"
namespace frc971 {
namespace wpilib {
@@ -22,10 +22,10 @@
DrivetrainWriter(::aos::EventLoop *event_loop, int drivetrain_writer_priority,
double max_voltage);
- void set_falcons(std::shared_ptr<SwerveModule> front_left,
- std::shared_ptr<SwerveModule> front_right,
- std::shared_ptr<SwerveModule> back_left,
- std::shared_ptr<SwerveModule> back_right);
+ void set_talonfxs(std::shared_ptr<SwerveModule> front_left,
+ std::shared_ptr<SwerveModule> front_right,
+ std::shared_ptr<SwerveModule> back_left,
+ std::shared_ptr<SwerveModule> back_right);
void HandleCANConfiguration(const CANConfiguration &configuration);
diff --git a/frc971/wpilib/swerve/swerve_module.h b/frc971/wpilib/swerve/swerve_module.h
index f449afa..d65547a 100644
--- a/frc971/wpilib/swerve/swerve_module.h
+++ b/frc971/wpilib/swerve/swerve_module.h
@@ -1,23 +1,23 @@
#ifndef FRC971_WPILIB_SWERVE_SWERVE_MODULE_H_
#define FRC971_WPILIB_SWERVE_SWERVE_MODULE_H_
-#include "frc971/wpilib/falcon.h"
+#include "frc971/wpilib/talonfx.h"
namespace frc971 {
namespace wpilib {
namespace swerve {
struct SwerveModule {
- SwerveModule(FalconParams rotation_params, FalconParams translation_params,
+ SwerveModule(TalonFXParams rotation_params, TalonFXParams translation_params,
std::string canbus,
std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
double stator_current_limit, double supply_current_limit)
- : rotation(std::make_shared<Falcon>(rotation_params, canbus, signals,
- stator_current_limit,
- supply_current_limit)),
- translation(std::make_shared<Falcon>(translation_params, canbus,
- signals, stator_current_limit,
- supply_current_limit)) {}
+ : rotation(std::make_shared<TalonFX>(rotation_params, canbus, signals,
+ stator_current_limit,
+ supply_current_limit)),
+ translation(std::make_shared<TalonFX>(translation_params, canbus,
+ signals, stator_current_limit,
+ supply_current_limit)) {}
void WriteModule(
const frc971::control_loops::drivetrain::swerve::SwerveModuleOutput
@@ -35,8 +35,8 @@
translation->WriteCurrent(translation_current, max_voltage);
}
- std::shared_ptr<Falcon> rotation;
- std::shared_ptr<Falcon> translation;
+ std::shared_ptr<TalonFX> rotation;
+ std::shared_ptr<TalonFX> translation;
};
} // namespace swerve