commit 10ed5c3efaa820f8fc8a7a82906a942dedf394f7
author Maxwell Henderson <mxwhenderson@gmail.com> Tue Jan 09 12:40:54 2024 -0800
committer Maxwell Henderson <mxwhenderson@gmail.com> Sat Jan 13 17:24:05 2024 -0800
tree 1dc4546da191e6571a402e6fd21096009b462c6a
parent 2267d18271a1e84b2dc65139566083fae5f9986e

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

y2023/wpilib_interface.cc

diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index b4d3acb..c05062e 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -223,9 +223,9 @@
 
   ctre::phoenix6::hardware::TalonFX *talon() { return &talon_; }
 
-  flatbuffers::Offset<frc971::control_loops::CANFalcon> WritePosition(
+  flatbuffers::Offset<frc971::control_loops::CANTalonFX> WritePosition(
       flatbuffers::FlatBufferBuilder *fbb) {
-    frc971::control_loops::CANFalcon::Builder builder(*fbb);
+    frc971::control_loops::CANTalonFX::Builder builder(*fbb);
     builder.add_id(device_id_);
     builder.add_device_temp(device_temp());
     builder.add_supply_voltage(supply_voltage());
@@ -338,7 +338,7 @@
       falcon->RefreshNontimesyncedSignals();
     }
 
-    aos::SizedArray<flatbuffers::Offset<frc971::control_loops::CANFalcon>,
+    aos::SizedArray<flatbuffers::Offset<frc971::control_loops::CANTalonFX>,
                     kCANFalconCount>
         falcons;
 
@@ -350,14 +350,15 @@
     auto falcons_list =
         builder.fbb()
             ->CreateVector<
-                flatbuffers::Offset<frc971::control_loops::CANFalcon>>(falcons);
+                flatbuffers::Offset<frc971::control_loops::CANTalonFX>>(
+                falcons);
 
     frc971::control_loops::drivetrain::CANPosition::Builder
         can_position_builder =
             builder
                 .MakeBuilder<frc971::control_loops::drivetrain::CANPosition>();
 
-    can_position_builder.add_falcons(falcons_list);
+    can_position_builder.add_talonfxs(falcons_list);
     can_position_builder.add_timestamp(right_front_->GetTimestamp());
     can_position_builder.add_status(static_cast<int>(status));
 

y2023/www/field_handler.ts

diff --git a/y2023/www/field_handler.ts b/y2023/www/field_handler.ts
index d6ff479..29f71a2 100644
--- a/y2023/www/field_handler.ts
+++ b/y2023/www/field_handler.ts
@@ -553,22 +553,22 @@
 
     if (this.drivetrainCANPosition) {
       this.falconRightFrontPosition.innerHTML = //TODO: (niko) Improve this so that falcons are not hard-coded
-      this.drivetrainCANPosition.falcons(0).position().toString();
+      this.drivetrainCANPosition.talonfxs(0).position().toString();
 
       this.falconRightBackPosition.innerHTML =
-      this.drivetrainCANPosition.falcons(1).position().toString();
+      this.drivetrainCANPosition.talonfxs(1).position().toString();
 
       this.falconRightUnderPosition.innerHTML =
-      this.drivetrainCANPosition.falcons(2).position().toString();
+      this.drivetrainCANPosition.talonfxs(2).position().toString();
 
       this.falconLeftFrontPosition.innerHTML =
-      this.drivetrainCANPosition.falcons(3).position().toString();
+      this.drivetrainCANPosition.talonfxs(3).position().toString();
 
       this.falconLeftBackPosition.innerHTML =
-      this.drivetrainCANPosition.falcons(4).position().toString();
+      this.drivetrainCANPosition.talonfxs(4).position().toString();
 
       this.falconLeftUnderPosition.innerHTML =
-      this.drivetrainCANPosition.falcons(5).position().toString();
+      this.drivetrainCANPosition.talonfxs(5).position().toString();
   }
 
     if (this.localizerOutput) {