commit 2a951e24ce39b0186c84fe0aab4ed669f21b70e0
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Oct 29 22:15:43 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Oct 31 21:08:56 2024 -0700
tree 1d8495e5b719643b99df8e7eabd19f22d32cd1a6
parent 886675c3502d3e73132f614ad4d116e4f2356302

Update CTRE libraries to phoenix 6 alpha-2

Change-Id: I1772d79a19c2c32c3a750fbaf0bf38fb217a5d32
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2021_bot3/wpilib_interface.cc

diff --git a/y2021_bot3/wpilib_interface.cc b/y2021_bot3/wpilib_interface.cc
index 4006736..f3c956e 100644
--- a/y2021_bot3/wpilib_interface.cc
+++ b/y2021_bot3/wpilib_interface.cc
@@ -119,9 +119,11 @@
 void WriteConfigs(ctre::phoenix6::hardware::TalonFX *talon,
                   double stator_current_limit, double supply_current_limit) {
   ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
-  current_limits.StatorCurrentLimit = stator_current_limit;
+  current_limits.StatorCurrentLimit =
+      units::current::ampere_t{stator_current_limit};
   current_limits.StatorCurrentLimitEnable = true;
-  current_limits.SupplyCurrentLimit = supply_current_limit;
+  current_limits.SupplyCurrentLimit =
+      units::current::ampere_t{supply_current_limit};
   current_limits.SupplyCurrentLimitEnable = true;
 
   ctre::phoenix6::configs::TalonFXConfiguration configuration;
@@ -249,7 +251,8 @@
       ::std::unique_ptr<::ctre::phoenix6::hardware::TalonFX> t) {
     climber_falcon_ = ::std::move(t);
     ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
-    current_limits.SupplyCurrentLimit = Values::kClimberSupplyCurrentLimit();
+    current_limits.SupplyCurrentLimit =
+        units::current::ampere_t{Values::kClimberSupplyCurrentLimit()};
     current_limits.SupplyCurrentLimitEnable = true;
 
     ctre::phoenix6::configs::TalonFXConfiguration configuration;