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>

y2022/wpilib_interface.cc

diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 1f82e91..469c93b 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -129,9 +129,11 @@
 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;
@@ -483,10 +485,10 @@
     for (auto &falcon : {catapult_falcon_1_can_, catapult_falcon_2_can_}) {
       ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
       current_limits.StatorCurrentLimit =
-          Values::kIntakeRollerStatorCurrentLimit();
+          units::current::ampere_t{Values::kIntakeRollerStatorCurrentLimit()};
       current_limits.StatorCurrentLimitEnable = true;
       current_limits.SupplyCurrentLimit =
-          Values::kIntakeRollerSupplyCurrentLimit();
+          units::current::ampere_t{Values::kIntakeRollerSupplyCurrentLimit()};
       current_limits.SupplyCurrentLimitEnable = true;
 
       ctre::phoenix6::configs::TalonFXConfiguration configuration;