Switch to using phoenix6
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I1165e96be56628e29e6a86e3d0e92f07c560a80d
diff --git a/WORKSPACE b/WORKSPACE
index 51f9c8f..1be9988 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -724,29 +724,29 @@
)
http_archive(
- name = "ctre_phoenixpro_api_cpp_headers",
+ name = "ctre_phoenix6_api_cpp_headers",
build_file_content = """
cc_library(
name = 'api-cpp',
visibility = ['//visibility:public'],
- hdrs = glob(['ctre/phoenixpro/**/*.hpp', 'units/*.h']),
+ hdrs = glob(['ctre/phoenix6/**/*.hpp', 'units/*.h']),
includes = ["."],
deps = ["@//third_party/allwpilib/wpimath"],
)
""",
- sha256 = "340a9c8e726e2eb365b7a40a722df05fe7c7072c5c4a617fa0218eb6d074ad9f",
+ sha256 = "3c4da9f46c751d4981697da26d3c8680f40c87090782f5adf63412e34508f372",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.11/api-cpp-23.0.11-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/api-cpp/23.2.2/api-cpp-23.2.2-headers.zip",
],
)
http_archive(
- name = "ctre_phoenixpro_api_cpp_athena",
+ name = "ctre_phoenix6_api_cpp_athena",
build_file_content = """
filegroup(
name = 'shared_libraries',
srcs = [
- 'linux/athena/shared/libCTRE_PhoenixPro.so',
+ 'linux/athena/shared/libCTRE_Phoenix6.so',
],
visibility = ['//visibility:public'],
)
@@ -754,18 +754,18 @@
cc_library(
name = 'api-cpp',
visibility = ['//visibility:public'],
- srcs = ['linux/athena/shared/libCTRE_PhoenixPro.so'],
+ srcs = ['linux/athena/shared/libCTRE_Phoenix6.so'],
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "11f392bebfe54f512be9ef59809e1a10c4497e0ce92970645f054e7e04fe7ef6",
+ sha256 = "8391cbd24582c951a8fdbcff533243be718fc54e091c068d5441bb0c18ff822c",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/api-cpp/23.0.11/api-cpp-23.0.11-linuxathena.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/api-cpp/23.2.2/api-cpp-23.2.2-linuxathena.zip",
],
)
http_archive(
- name = "ctre_phoenixpro_tools_headers",
+ name = "ctre_phoenix6_tools_headers",
build_file_content = """
cc_library(
name = 'tools',
@@ -773,14 +773,14 @@
hdrs = glob(['ctre/**/*.h', 'ctre/**/*.hpp']),
)
""",
- sha256 = "7585e1bd9e581dd745e7f040ab521b966b40a04d05bc7fa82d6dafe2fb65764e",
+ sha256 = "33781c9db0a204e257928351c700295aec2bf6e2abb6a49ef237a95e98442a18",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.11/tools-23.0.11-headers.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/tools/23.2.2/tools-23.2.2-headers.zip",
],
)
http_archive(
- name = "ctre_phoenixpro_tools_athena",
+ name = "ctre_phoenix6_tools_athena",
build_file_content = """
filegroup(
name = 'shared_libraries',
@@ -797,9 +797,9 @@
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "b1daadfe782c43ed32c2e1a3956998f9604a3fc9282ef866fd8dc1482f3b8cc9",
+ sha256 = "75ec607f81ab470bc7c01fda2b8ca7b71b7dc3378b370f806f8646db27600504",
urls = [
- "https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/tools/23.0.11/tools-23.0.11-linuxathena.zip",
+ "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/tools/23.2.2/tools-23.2.2-linuxathena.zip",
],
)
diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index a9d4ebf..6c59d35 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -510,7 +510,7 @@
"//aos/logging",
"//frc971/control_loops/drivetrain:drivetrain_can_position_fbs",
"//third_party:phoenix",
- "//third_party:phoenixpro",
+ "//third_party:phoenix6",
"//third_party:wpilib",
"@com_github_google_glog//:glog",
],
diff --git a/frc971/wpilib/can_sensor_reader.cc b/frc971/wpilib/can_sensor_reader.cc
index 5a19e8f..744cb6a 100644
--- a/frc971/wpilib/can_sensor_reader.cc
+++ b/frc971/wpilib/can_sensor_reader.cc
@@ -5,7 +5,7 @@
CANSensorReader::CANSensorReader(
aos::EventLoop *event_loop,
- std::vector<ctre::phoenixpro::BaseStatusSignalValue *> signals_registry,
+ std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry,
std::vector<std::shared_ptr<Falcon>> falcons)
: event_loop_(event_loop),
signals_(signals_registry.begin(), signals_registry.end()),
@@ -28,7 +28,7 @@
void CANSensorReader::Loop() {
ctre::phoenix::StatusCode status =
- ctre::phoenixpro::BaseStatusSignalValue::WaitForAll(20_ms, signals_);
+ ctre::phoenix6::BaseStatusSignal::WaitForAll(20_ms, signals_);
if (!status.IsOK()) {
AOS_LOG(ERROR, "Failed to read signals from falcons: %s: %s",
diff --git a/frc971/wpilib/can_sensor_reader.h b/frc971/wpilib/can_sensor_reader.h
index 2e1a406..56da2fb 100644
--- a/frc971/wpilib/can_sensor_reader.h
+++ b/frc971/wpilib/can_sensor_reader.h
@@ -15,7 +15,7 @@
public:
CANSensorReader(
aos::EventLoop *event_loop,
- std::vector<ctre::phoenixpro::BaseStatusSignalValue *> signals_registry,
+ std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry,
std::vector<std::shared_ptr<Falcon>> falcons);
private:
@@ -23,7 +23,7 @@
aos::EventLoop *event_loop_;
- const std::vector<ctre::phoenixpro::BaseStatusSignalValue *> signals_;
+ const std::vector<ctre::phoenix6::BaseStatusSignal *> signals_;
aos::Sender<control_loops::drivetrain::CANPosition> can_position_sender_;
// This is a vector of falcons becuase we don't need to care
diff --git a/frc971/wpilib/falcon.cc b/frc971/wpilib/falcon.cc
index 2dee390..3f551eb 100644
--- a/frc971/wpilib/falcon.cc
+++ b/frc971/wpilib/falcon.cc
@@ -3,7 +3,7 @@
using frc971::wpilib::Falcon;
Falcon::Falcon(int device_id, std::string canbus,
- std::vector<ctre::phoenixpro::BaseStatusSignalValue *> *signals,
+ std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
double stator_current_limit, double supply_current_limit)
: talon_(device_id, canbus),
device_id_(device_id),
@@ -37,7 +37,7 @@
}
void Falcon::PrintConfigs() {
- ctre::phoenixpro::configs::TalonFXConfiguration configuration;
+ ctre::phoenix6::configs::TalonFXConfiguration configuration;
ctre::phoenix::StatusCode status =
talon_.GetConfigurator().Refresh(configuration);
if (!status.IsOK()) {
@@ -47,23 +47,22 @@
AOS_LOG(INFO, "configuration: %s", configuration.ToString().c_str());
}
-void Falcon::WriteConfigs(ctre::phoenixpro::signals::InvertedValue invert) {
+void Falcon::WriteConfigs(ctre::phoenix6::signals::InvertedValue invert) {
inverted_ = invert;
- ctre::phoenixpro::configs::CurrentLimitsConfigs current_limits;
+ ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
current_limits.StatorCurrentLimit = stator_current_limit_;
current_limits.StatorCurrentLimitEnable = true;
current_limits.SupplyCurrentLimit = supply_current_limit_;
current_limits.SupplyCurrentLimitEnable = true;
- ctre::phoenixpro::configs::MotorOutputConfigs output_configs;
- output_configs.NeutralMode =
- ctre::phoenixpro::signals::NeutralModeValue::Brake;
+ ctre::phoenix6::configs::MotorOutputConfigs output_configs;
+ output_configs.NeutralMode = ctre::phoenix6::signals::NeutralModeValue::Brake;
output_configs.DutyCycleNeutralDeadband = 0;
output_configs.Inverted = inverted_;
- ctre::phoenixpro::configs::TalonFXConfiguration configuration;
+ ctre::phoenix6::configs::TalonFXConfiguration configuration;
configuration.CurrentLimits = current_limits;
configuration.MotorOutput = output_configs;
diff --git a/frc971/wpilib/falcon.h b/frc971/wpilib/falcon.h
index 7137d82..f6858fd 100644
--- a/frc971/wpilib/falcon.h
+++ b/frc971/wpilib/falcon.h
@@ -5,7 +5,7 @@
#include <cinttypes>
#include <vector>
-#include "ctre/phoenixpro/TalonFX.hpp"
+#include "ctre/phoenix6/TalonFX.hpp"
#include "glog/logging.h"
#include "aos/init.h"
@@ -23,14 +23,14 @@
class Falcon {
public:
Falcon(int device_id, std::string canbus,
- std::vector<ctre::phoenixpro::BaseStatusSignalValue *> *signals,
+ std::vector<ctre::phoenix6::BaseStatusSignal *> *signals,
double stator_current_limit, double supply_current_limit);
void PrintConfigs();
- void WriteConfigs(ctre::phoenixpro::signals::InvertedValue invert);
+ void WriteConfigs(ctre::phoenix6::signals::InvertedValue invert);
- ctre::phoenixpro::hardware::TalonFX *talon() { return &talon_; }
+ ctre::phoenix6::hardware::TalonFX *talon() { return &talon_; }
void SerializePosition(flatbuffers::FlatBufferBuilder *fbb);
@@ -66,19 +66,17 @@
}
private:
- ctre::phoenixpro::hardware::TalonFX talon_;
+ ctre::phoenix6::hardware::TalonFX talon_;
int device_id_;
- ctre::phoenixpro::signals::InvertedValue inverted_;
+ ctre::phoenix6::signals::InvertedValue inverted_;
- ctre::phoenixpro::StatusSignalValue<units::temperature::celsius_t>
- device_temp_;
- ctre::phoenixpro::StatusSignalValue<units::voltage::volt_t> supply_voltage_;
- ctre::phoenixpro::StatusSignalValue<units::current::ampere_t> supply_current_,
+ ctre::phoenix6::StatusSignal<units::temperature::celsius_t> device_temp_;
+ ctre::phoenix6::StatusSignal<units::voltage::volt_t> supply_voltage_;
+ ctre::phoenix6::StatusSignal<units::current::ampere_t> supply_current_,
torque_current_;
- ctre::phoenixpro::StatusSignalValue<units::angle::turn_t> position_;
- ctre::phoenixpro::StatusSignalValue<units::dimensionless::scalar_t>
- duty_cycle_;
+ ctre::phoenix6::StatusSignal<units::angle::turn_t> position_;
+ ctre::phoenix6::StatusSignal<units::dimensionless::scalar_t> duty_cycle_;
double stator_current_limit_;
double supply_current_limit_;
diff --git a/third_party/BUILD b/third_party/BUILD
index 53b5d24..7195123 100644
--- a/third_party/BUILD
+++ b/third_party/BUILD
@@ -31,17 +31,17 @@
target_compatible_with = ["//tools/platforms/hardware:roborio"],
visibility = ["//visibility:public"],
deps = [
+ "@ctre_phoenix6_tools_athena//:tools",
+ "@ctre_phoenix6_tools_headers//:tools",
"@ctre_phoenix_api_cpp_athena//:api-cpp",
"@ctre_phoenix_api_cpp_headers//:api-cpp",
"@ctre_phoenix_cci_athena//:cci",
"@ctre_phoenix_cci_headers//:cci",
- "@ctre_phoenixpro_tools_athena//:tools",
- "@ctre_phoenixpro_tools_headers//:tools",
],
)
cc_library(
- name = "phoenixpro",
+ name = "phoenix6",
linkopts = [
"-Wl,-rpath",
"-Wl,.",
@@ -49,10 +49,10 @@
target_compatible_with = ["//tools/platforms/hardware:roborio"],
visibility = ["//visibility:public"],
deps = [
- "@ctre_phoenixpro_api_cpp_athena//:api-cpp",
- "@ctre_phoenixpro_api_cpp_headers//:api-cpp",
- "@ctre_phoenixpro_tools_athena//:tools",
- "@ctre_phoenixpro_tools_headers//:tools",
+ "@ctre_phoenix6_api_cpp_athena//:api-cpp",
+ "@ctre_phoenix6_api_cpp_headers//:api-cpp",
+ "@ctre_phoenix6_tools_athena//:tools",
+ "@ctre_phoenix6_tools_headers//:tools",
],
)
diff --git a/y2022/BUILD b/y2022/BUILD
index f8bf59f..f25925e 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -18,10 +18,10 @@
data = [
":aos_config",
":message_bridge_client.sh",
+ "@ctre_phoenix6_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix6_tools_athena//:shared_libraries",
"@ctre_phoenix_api_cpp_athena//:shared_libraries",
"@ctre_phoenix_cci_athena//:shared_libraries",
- "@ctre_phoenixpro_api_cpp_athena//:shared_libraries",
- "@ctre_phoenixpro_tools_athena//:shared_libraries",
],
dirs = [
"//y2022/actors:splines",
@@ -270,7 +270,7 @@
"//frc971/wpilib:wpilib_interface",
"//frc971/wpilib:wpilib_robot_base",
"//third_party:phoenix",
- "//third_party:phoenixpro",
+ "//third_party:phoenix6",
"//third_party:wpilib",
"//y2022/control_loops/superstructure:led_indicator_lib",
"//y2022/control_loops/superstructure:superstructure_can_position_fbs",
diff --git a/y2022_bot3/BUILD b/y2022_bot3/BUILD
index e7146ce..29debe7 100644
--- a/y2022_bot3/BUILD
+++ b/y2022_bot3/BUILD
@@ -8,8 +8,8 @@
],
data = [
":aos_config",
- "@ctre_phoenixpro_api_cpp_athena//:shared_libraries",
- "@ctre_phoenixpro_tools_athena//:shared_libraries",
+ "@ctre_phoenix6_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix6_tools_athena//:shared_libraries",
],
dirs = [
"//y2022_bot3/actors:splines",
diff --git a/y2023/BUILD b/y2023/BUILD
index ed8f347..992ba5d 100644
--- a/y2023/BUILD
+++ b/y2023/BUILD
@@ -21,10 +21,10 @@
"//aos/starter:roborio_irq_config.json",
"//y2023/constants:constants.json",
"//y2023/control_loops/superstructure/arm:arm_trajectories_generated.bfbs",
+ "@ctre_phoenix6_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix6_tools_athena//:shared_libraries",
"@ctre_phoenix_api_cpp_athena//:shared_libraries",
"@ctre_phoenix_cci_athena//:shared_libraries",
- "@ctre_phoenixpro_api_cpp_athena//:shared_libraries",
- "@ctre_phoenixpro_tools_athena//:shared_libraries",
],
dirs = [
"//y2023/www:www_files",
@@ -303,7 +303,7 @@
"//frc971/wpilib:wpilib_interface",
"//frc971/wpilib:wpilib_robot_base",
"//third_party:phoenix",
- "//third_party:phoenixpro",
+ "//third_party:phoenix6",
"//third_party:wpilib",
"//y2023/control_loops/superstructure:led_indicator_lib",
"//y2023/control_loops/superstructure:superstructure_output_fbs",
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index d043e6f..7975163 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -26,7 +26,7 @@
#include "ctre/phoenix/cci/Diagnostics_CCI.h"
#include "ctre/phoenix/motorcontrol/can/TalonFX.h"
#include "ctre/phoenix/motorcontrol/can/TalonSRX.h"
-#include "ctre/phoenixpro/TalonFX.hpp"
+#include "ctre/phoenix6/TalonFX.hpp"
#include "aos/commonmath.h"
#include "aos/containers/sized_array.h"
@@ -121,7 +121,7 @@
class Falcon {
public:
Falcon(int device_id, std::string canbus,
- std::vector<ctre::phoenixpro::BaseStatusSignalValue *> *signals)
+ std::vector<ctre::phoenix6::BaseStatusSignal *> *signals)
: talon_(device_id, canbus),
device_id_(device_id),
device_temp_(talon_.GetDeviceTemp()),
@@ -152,7 +152,7 @@
}
void PrintConfigs() {
- ctre::phoenixpro::configs::TalonFXConfiguration configuration;
+ ctre::phoenix6::configs::TalonFXConfiguration configuration;
ctre::phoenix::StatusCode status =
talon_.GetConfigurator().Refresh(configuration);
if (!status.IsOK()) {
@@ -162,10 +162,10 @@
AOS_LOG(INFO, "configuration: %s", configuration.ToString().c_str());
}
- void WriteConfigs(ctre::phoenixpro::signals::InvertedValue invert) {
+ void WriteConfigs(ctre::phoenix6::signals::InvertedValue invert) {
inverted_ = invert;
- ctre::phoenixpro::configs::CurrentLimitsConfigs current_limits;
+ ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
current_limits.StatorCurrentLimit =
constants::Values::kDrivetrainStatorCurrentLimit();
current_limits.StatorCurrentLimitEnable = true;
@@ -173,14 +173,14 @@
constants::Values::kDrivetrainSupplyCurrentLimit();
current_limits.SupplyCurrentLimitEnable = true;
- ctre::phoenixpro::configs::MotorOutputConfigs output_configs;
+ ctre::phoenix6::configs::MotorOutputConfigs output_configs;
output_configs.NeutralMode =
- ctre::phoenixpro::signals::NeutralModeValue::Brake;
+ ctre::phoenix6::signals::NeutralModeValue::Brake;
output_configs.DutyCycleNeutralDeadband = 0;
output_configs.Inverted = inverted_;
- ctre::phoenixpro::configs::TalonFXConfiguration configuration;
+ ctre::phoenix6::configs::TalonFXConfiguration configuration;
configuration.CurrentLimits = current_limits;
configuration.MotorOutput = output_configs;
@@ -195,7 +195,7 @@
}
void WriteRollerConfigs() {
- ctre::phoenixpro::configs::CurrentLimitsConfigs current_limits;
+ ctre::phoenix6::configs::CurrentLimitsConfigs current_limits;
current_limits.StatorCurrentLimit =
constants::Values::kRollerStatorCurrentLimit();
current_limits.StatorCurrentLimitEnable = true;
@@ -203,12 +203,12 @@
constants::Values::kRollerSupplyCurrentLimit();
current_limits.SupplyCurrentLimitEnable = true;
- ctre::phoenixpro::configs::MotorOutputConfigs output_configs;
+ ctre::phoenix6::configs::MotorOutputConfigs output_configs;
output_configs.NeutralMode =
- ctre::phoenixpro::signals::NeutralModeValue::Brake;
+ ctre::phoenix6::signals::NeutralModeValue::Brake;
output_configs.DutyCycleNeutralDeadband = 0;
- ctre::phoenixpro::configs::TalonFXConfiguration configuration;
+ ctre::phoenix6::configs::TalonFXConfiguration configuration;
configuration.CurrentLimits = current_limits;
configuration.MotorOutput = output_configs;
@@ -222,7 +222,7 @@
PrintConfigs();
}
- ctre::phoenixpro::hardware::TalonFX *talon() { return &talon_; }
+ ctre::phoenix6::hardware::TalonFX *talon() { return &talon_; }
flatbuffers::Offset<frc971::control_loops::CANFalcon> WritePosition(
flatbuffers::FlatBufferBuilder *fbb) {
@@ -235,8 +235,7 @@
builder.add_duty_cycle(duty_cycle());
double invert =
- (inverted_ ==
- ctre::phoenixpro::signals::InvertedValue::Clockwise_Positive
+ (inverted_ == ctre::phoenix6::signals::InvertedValue::Clockwise_Positive
? 1
: -1);
@@ -266,26 +265,24 @@
void RefreshNontimesyncedSignals() { device_temp_.Refresh(); };
private:
- ctre::phoenixpro::hardware::TalonFX talon_;
+ ctre::phoenix6::hardware::TalonFX talon_;
int device_id_;
- ctre::phoenixpro::signals::InvertedValue inverted_;
+ ctre::phoenix6::signals::InvertedValue inverted_;
- ctre::phoenixpro::StatusSignalValue<units::temperature::celsius_t>
- device_temp_;
- ctre::phoenixpro::StatusSignalValue<units::voltage::volt_t> supply_voltage_;
- ctre::phoenixpro::StatusSignalValue<units::current::ampere_t> supply_current_,
+ ctre::phoenix6::StatusSignal<units::temperature::celsius_t> device_temp_;
+ ctre::phoenix6::StatusSignal<units::voltage::volt_t> supply_voltage_;
+ ctre::phoenix6::StatusSignal<units::current::ampere_t> supply_current_,
torque_current_;
- ctre::phoenixpro::StatusSignalValue<units::angle::turn_t> position_;
- ctre::phoenixpro::StatusSignalValue<units::dimensionless::scalar_t>
- duty_cycle_;
+ ctre::phoenix6::StatusSignal<units::angle::turn_t> position_;
+ ctre::phoenix6::StatusSignal<units::dimensionless::scalar_t> duty_cycle_;
};
class CANSensorReader {
public:
CANSensorReader(
aos::EventLoop *event_loop,
- std::vector<ctre::phoenixpro::BaseStatusSignalValue *> signals_registry)
+ std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry)
: event_loop_(event_loop),
signals_(signals_registry.begin(), signals_registry.end()),
can_position_sender_(
@@ -328,7 +325,7 @@
private:
void Loop() {
ctre::phoenix::StatusCode status =
- ctre::phoenixpro::BaseStatusSignalValue::WaitForAll(2000_ms, signals_);
+ ctre::phoenix6::BaseStatusSignal::WaitForAll(2000_ms, signals_);
if (!status.IsOK()) {
AOS_LOG(ERROR, "Failed to read signals from falcons: %s: %s",
@@ -384,7 +381,7 @@
aos::EventLoop *event_loop_;
- const std::vector<ctre::phoenixpro::BaseStatusSignalValue *> signals_;
+ const std::vector<ctre::phoenix6::BaseStatusSignal *> signals_;
aos::Sender<frc971::control_loops::drivetrain::CANPosition>
can_position_sender_;
@@ -761,7 +758,7 @@
void WriteConfigs() { roller_falcon_->WriteRollerConfigs(); }
void Write(const superstructure::Output &output) override {
- ctre::phoenixpro::controls::DutyCycleOut roller_control(
+ ctre::phoenix6::controls::DutyCycleOut roller_control(
SafeSpeed(-output.roller_voltage()));
roller_control.UpdateFreqHz = 0_Hz;
roller_control.EnableFOC = true;
@@ -777,7 +774,7 @@
void Stop() override {
AOS_LOG(WARNING, "Superstructure CAN output too old.\n");
- ctre::phoenixpro::controls::DutyCycleOut stop_command(0.0);
+ ctre::phoenix6::controls::DutyCycleOut stop_command(0.0);
stop_command.UpdateFreqHz = 0_Hz;
stop_command.EnableFOC = true;
@@ -818,11 +815,11 @@
left_under_ = std::move(left_under);
}
- void set_right_inverted(ctre::phoenixpro::signals::InvertedValue invert) {
+ void set_right_inverted(ctre::phoenix6::signals::InvertedValue invert) {
right_inverted_ = invert;
}
- void set_left_inverted(ctre::phoenixpro::signals::InvertedValue invert) {
+ void set_left_inverted(ctre::phoenix6::signals::InvertedValue invert) {
left_inverted_ = invert;
}
@@ -851,12 +848,12 @@
void Write(
const ::frc971::control_loops::drivetrain::Output &output) override {
- ctre::phoenixpro::controls::DutyCycleOut left_control(
+ ctre::phoenix6::controls::DutyCycleOut left_control(
SafeSpeed(output.left_voltage()));
left_control.UpdateFreqHz = 0_Hz;
left_control.EnableFOC = true;
- ctre::phoenixpro::controls::DutyCycleOut right_control(
+ ctre::phoenix6::controls::DutyCycleOut right_control(
SafeSpeed(output.right_voltage()));
right_control.UpdateFreqHz = 0_Hz;
right_control.EnableFOC = true;
@@ -886,7 +883,7 @@
void Stop() override {
AOS_LOG(WARNING, "drivetrain output too old\n");
- ctre::phoenixpro::controls::DutyCycleOut stop_command(0.0);
+ ctre::phoenix6::controls::DutyCycleOut stop_command(0.0);
stop_command.UpdateFreqHz = 0_Hz;
stop_command.EnableFOC = true;
@@ -901,7 +898,7 @@
return (::aos::Clip(voltage, -kMaxBringupPower, kMaxBringupPower) / 12.0);
}
- ctre::phoenixpro::signals::InvertedValue left_inverted_, right_inverted_;
+ ctre::phoenix6::signals::InvertedValue left_inverted_, right_inverted_;
std::shared_ptr<Falcon> right_front_, right_back_, right_under_, left_front_,
left_back_, left_under_;
};
@@ -934,7 +931,7 @@
std::shared_ptr<frc::DigitalOutput> superstructure_reading =
make_unique<frc::DigitalOutput>(25);
- std::vector<ctre::phoenixpro::BaseStatusSignalValue *> signals_registry;
+ std::vector<ctre::phoenix6::BaseStatusSignal *> signals_registry;
std::shared_ptr<Falcon> right_front =
std::make_shared<Falcon>(1, "Drivetrain Bus", &signals_registry);
std::shared_ptr<Falcon> right_back =
@@ -1013,9 +1010,9 @@
drivetrain_writer.set_falcons(right_front, right_back, right_under,
left_front, left_back, left_under);
drivetrain_writer.set_right_inverted(
- ctre::phoenixpro::signals::InvertedValue::Clockwise_Positive);
+ ctre::phoenix6::signals::InvertedValue::Clockwise_Positive);
drivetrain_writer.set_left_inverted(
- ctre::phoenixpro::signals::InvertedValue::CounterClockwise_Positive);
+ ctre::phoenix6::signals::InvertedValue::CounterClockwise_Positive);
SuperstructureCANWriter superstructure_can_writer(&can_output_event_loop);
superstructure_can_writer.set_roller_falcon(roller);