commit 83fc756fa8b20d8bb8825ff1b4d315bd23720709
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Oct 29 22:15:43 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Oct 29 22:18:17 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>

y2023/wpilib_interface.cc

diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index bc14311..536f7bb 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -166,11 +166,11 @@
     inverted_ = invert;
 
     ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
-    current_limits.StatorCurrentLimit =
-        constants::Values::kDrivetrainStatorCurrentLimit();
+    current_limits.StatorCurrentLimit = units::current::ampere_t{
+        constants::Values::kDrivetrainStatorCurrentLimit()};
     current_limits.StatorCurrentLimitEnable = true;
-    current_limits.SupplyCurrentLimit =
-        constants::Values::kDrivetrainSupplyCurrentLimit();
+    current_limits.SupplyCurrentLimit = units::current::ampere_t{
+        constants::Values::kDrivetrainSupplyCurrentLimit()};
     current_limits.SupplyCurrentLimitEnable = true;
 
     ctre::phoenix6::configs::MotorOutputConfigs output_configs;
@@ -196,11 +196,11 @@
 
   void WriteRollerConfigs() {
     ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
-    current_limits.StatorCurrentLimit =
-        constants::Values::kRollerStatorCurrentLimit();
+    current_limits.StatorCurrentLimit = units::current::ampere_t{
+        constants::Values::kRollerStatorCurrentLimit()};
     current_limits.StatorCurrentLimitEnable = true;
-    current_limits.SupplyCurrentLimit =
-        constants::Values::kRollerSupplyCurrentLimit();
+    current_limits.SupplyCurrentLimit = units::current::ampere_t{
+        constants::Values::kRollerSupplyCurrentLimit()};
     current_limits.SupplyCurrentLimitEnable = true;
 
     ctre::phoenix6::configs::MotorOutputConfigs output_configs;