commit acf636847117e14539c0d425eeb46ed222f70139
author Maxwell Henderson <maxwell.henderson@mailbox.org> Sat Aug 19 22:18:09 2023 -0700
committer Maxwell Henderson <maxwell.henderson@mailbox.org> Sat Aug 26 08:10:27 2023 -0700
tree 0444fb2c8398b555953d367191fb02c50f5b204f
parent 40f774d5ce975086f68ea79bec32bfac741767d9

Allow for falcon inverting in swerve_module

Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: Ibbe7a28396fa3f249788d3f7b1e18d3eb384f0ec

frc971/wpilib/falcon.cc

diff --git a/frc971/wpilib/falcon.cc b/frc971/wpilib/falcon.cc
index 014556d..c3ff26d 100644
--- a/frc971/wpilib/falcon.cc
+++ b/frc971/wpilib/falcon.cc
@@ -3,11 +3,12 @@
 using frc971::wpilib::Falcon;
 using frc971::wpilib::kMaxBringupPower;
 
-Falcon::Falcon(int device_id, std::string canbus,
+Falcon::Falcon(int device_id, bool inverted, std::string canbus,
                std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
                double stator_current_limit, double supply_current_limit)
     : talon_(device_id, canbus),
       device_id_(device_id),
+      inverted_(inverted),
       device_temp_(talon_.GetDeviceTemp()),
       supply_voltage_(talon_.GetSupplyVoltage()),
       supply_current_(talon_.GetSupplyCurrent()),
@@ -37,6 +38,12 @@
   signals->push_back(&duty_cycle_);
 }
 
+Falcon::Falcon(FalconParams params, std::string canbus,
+               std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
+               double stator_current_limit, double supply_current_limit)
+    : Falcon(params.device_id, params.inverted, canbus, signals,
+             stator_current_limit, supply_current_limit) {}
+
 void Falcon::PrintConfigs() {
   ctre::phoenix6::configs::TalonFXConfiguration configuration;
   ctre::phoenix::StatusCode status =
@@ -48,9 +55,7 @@
   AOS_LOG(INFO, "configuration: %s", configuration.ToString().c_str());
 }
 
-void Falcon::WriteConfigs(ctre::phoenix6::signals::InvertedValue invert) {
-  inverted_ = invert;
-
+void Falcon::WriteConfigs() {
   ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
   current_limits.StatorCurrentLimit = stator_current_limit_;
   current_limits.StatorCurrentLimitEnable = true;