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_bot3/control_loops/superstructure/BUILD

diff --git a/y2023_bot3/control_loops/superstructure/BUILD b/y2023_bot3/control_loops/superstructure/BUILD
index f096ee4..d74d033 100644
--- a/y2023_bot3/control_loops/superstructure/BUILD
+++ b/y2023_bot3/control_loops/superstructure/BUILD
@@ -50,7 +50,7 @@
     ],
     deps = [
         "//frc971:can_configuration_fbs",
-        "//frc971/control_loops:can_falcon_fbs",
+        "//frc971/control_loops:can_talonfx_fbs",
         "//frc971/control_loops:control_loops_fbs",
         "//frc971/control_loops:profiled_subsystem_fbs",
     ],

y2023_bot3/control_loops/superstructure/superstructure_position.fbs

diff --git a/y2023_bot3/control_loops/superstructure/superstructure_position.fbs b/y2023_bot3/control_loops/superstructure/superstructure_position.fbs
index 28e4849..dc6282f 100644
--- a/y2023_bot3/control_loops/superstructure/superstructure_position.fbs
+++ b/y2023_bot3/control_loops/superstructure/superstructure_position.fbs
@@ -1,6 +1,5 @@
 include "frc971/control_loops/control_loops.fbs";
 include "frc971/can_configuration.fbs";
-include "frc971/control_loops/can_falcon.fbs";
 
 namespace y2023_bot3.control_loops.superstructure;
 

y2023_bot3/wpilib_interface.cc

diff --git a/y2023_bot3/wpilib_interface.cc b/y2023_bot3/wpilib_interface.cc
index 9b8df5d..231f2c6 100644
--- a/y2023_bot3/wpilib_interface.cc
+++ b/y2023_bot3/wpilib_interface.cc
@@ -96,7 +96,7 @@
 
 }  // namespace
 
-static constexpr int kCANFalconCount = 6;
+static constexpr int kCANTalonFXCount = 6;
 static constexpr units::frequency::hertz_t kCANUpdateFreqHz = 200_Hz;
 
 class Falcon {
@@ -177,9 +177,9 @@
 
   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());
@@ -275,8 +275,8 @@
       falcon->RefreshNontimesyncedSignals();
     }
 
-    aos::SizedArray<flatbuffers::Offset<frc971::control_loops::CANFalcon>,
-                    kCANFalconCount>
+    aos::SizedArray<flatbuffers::Offset<frc971::control_loops::CANTalonFX>,
+                    kCANTalonFXCount>
         falcons;
 
     for (auto falcon : {right_front_, right_back_}) {
@@ -286,14 +286,15 @@
     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));