Switch to using phoenix6
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I1165e96be56628e29e6a86e3d0e92f07c560a80d
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_;