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.h

diff --git a/frc971/wpilib/falcon.h b/frc971/wpilib/falcon.h
index d516290..6ea8735 100644
--- a/frc971/wpilib/falcon.h
+++ b/frc971/wpilib/falcon.h
@@ -18,19 +18,28 @@
 namespace frc971 {
 namespace wpilib {
 
+struct FalconParams {
+  int device_id;
+  bool inverted;
+};
+
 static constexpr units::frequency::hertz_t kCANUpdateFreqHz = 200_Hz;
 static constexpr double kMaxBringupPower = 12.0;
 
 // Gets info from and writes to falcon motors using the TalonFX controller.
 class Falcon {
  public:
-  Falcon(int device_id, std::string canbus,
+  Falcon(int device_id, bool inverted, std::string canbus,
+         std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
+         double stator_current_limit, double supply_current_limit);
+
+  Falcon(FalconParams params, std::string canbus,
          std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
          double stator_current_limit, double supply_current_limit);
 
   void PrintConfigs();
 
-  void WriteConfigs(ctre::phoenix6::signals::InvertedValue invert);
+  void WriteConfigs();
   ctre::phoenix::StatusCode WriteCurrent(double current, double max_voltage);
 
   ctre::phoenix6::hardware::TalonFX *talon() { return &talon_; }