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/swerve/swerve_drivetrain_writer.cc

diff --git a/frc971/wpilib/swerve/swerve_drivetrain_writer.cc b/frc971/wpilib/swerve/swerve_drivetrain_writer.cc
index 2b6ef9e..bfc5d73 100644
--- a/frc971/wpilib/swerve/swerve_drivetrain_writer.cc
+++ b/frc971/wpilib/swerve/swerve_drivetrain_writer.cc
@@ -37,8 +37,8 @@
 
 void DrivetrainWriter::WriteConfigs() {
   for (auto module : {front_left_, front_right_, back_left_, back_right_}) {
-    module->rotation->WriteConfigs(false);
-    module->translation->WriteConfigs(false);
+    module->rotation->WriteConfigs();
+    module->translation->WriteConfigs();
   }
 }
 

frc971/wpilib/swerve/swerve_module.h

diff --git a/frc971/wpilib/swerve/swerve_module.h b/frc971/wpilib/swerve/swerve_module.h
index 534f0ce..f449afa 100644
--- a/frc971/wpilib/swerve/swerve_module.h
+++ b/frc971/wpilib/swerve/swerve_module.h
@@ -8,14 +8,15 @@
 namespace swerve {
 
 struct SwerveModule {
-  SwerveModule(int rotation_id, int translation_id, std::string canbus,
+  SwerveModule(FalconParams rotation_params, FalconParams translation_params,
+               std::string canbus,
                std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
                double stator_current_limit, double supply_current_limit)
-      : rotation(std::make_shared<Falcon>(rotation_id, canbus, signals,
+      : rotation(std::make_shared<Falcon>(rotation_params, canbus, signals,
                                           stator_current_limit,
                                           supply_current_limit)),
-        translation(std::make_shared<Falcon>(translation_id, canbus, signals,
-                                             stator_current_limit,
+        translation(std::make_shared<Falcon>(translation_params, canbus,
+                                             signals, stator_current_limit,
                                              supply_current_limit)) {}
 
   void WriteModule(