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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,113 @@ | ||
| // somewhat inspired by 254 | ||
| package frc.robot.extras; | ||
|
|
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| import java.util.function.Supplier; | ||
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| import com.ctre.phoenix.ErrorCode; | ||
| import com.ctre.phoenix6.StatusCode; | ||
| import com.ctre.phoenix6.configs.TalonFXConfiguration; | ||
| import com.ctre.phoenix6.hardware.TalonFX; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
|
|
||
| public class TalonUtil { | ||
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| public static boolean applyAndCheckConfiguration( | ||
| TalonFX talon, TalonFXConfiguration config, double timeoutSeconds, int numTries) { | ||
| for (int i = 0; i < numTries; i++) { | ||
| if (checkErrorAndRetry(() -> talon.getConfigurator().apply(config, timeoutSeconds))) { | ||
| return true; | ||
| } | ||
| } | ||
| DriverStation.reportError( | ||
| "Failed to apply config for talon after " + numTries + " attempts", false); | ||
| return false; | ||
| } | ||
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| public static boolean applyAndCheckConfiguration(TalonFX talon, TalonFXConfiguration config, double timeoutMs) { | ||
| boolean result = applyAndCheckConfiguration(talon, config, timeoutMs, 5); | ||
| return result; | ||
| } | ||
|
|
||
| public enum StickyFault { | ||
| BootDuringEnable, | ||
| DeviceTemp, | ||
| ForwardHardLimit, | ||
| ForwardSoftLimit, | ||
| Hardware, | ||
| OverSupplyV, | ||
| ProcTemp, | ||
| ReverseHardLimit, | ||
| ReverseSoftLimit, | ||
| Undervoltage, | ||
| UnstableSupplyV | ||
| } | ||
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| public static void checkStickyFaults(String subsystemName, TalonFX talon) { | ||
| boolean[] faults = new boolean[StickyFault.values().length]; | ||
| faults[0] = talon.getStickyFault_BootDuringEnable().getValue(); | ||
| faults[1] = talon.getStickyFault_DeviceTemp().getValue(); | ||
| faults[2] = talon.getStickyFault_ForwardHardLimit().getValue(); | ||
| faults[3] = talon.getStickyFault_ForwardSoftLimit().getValue(); | ||
| faults[4] = talon.getStickyFault_Hardware().getValue(); | ||
| faults[5] = talon.getStickyFault_OverSupplyV().getValue(); | ||
| faults[6] = talon.getStickyFault_ProcTemp().getValue(); | ||
| faults[7] = talon.getStickyFault_ReverseHardLimit().getValue(); | ||
| faults[8] = talon.getStickyFault_ReverseSoftLimit().getValue(); | ||
| faults[9] = talon.getStickyFault_Undervoltage().getValue(); | ||
| faults[10] = talon.getStickyFault_UnstableSupplyV().getValue(); | ||
|
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| for (int i = 0; i < faults.length; i++) { | ||
| if (faults[i]) { | ||
| DriverStation.reportError( | ||
| subsystemName + ": Talon Fault! " + StickyFault.values()[i].toString(), false); | ||
| } | ||
| } | ||
|
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| talon.clearStickyFaults(); | ||
| } | ||
|
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| /** | ||
| * checks the specified error code for issues | ||
| * | ||
| * @param errorCode error code | ||
| * @param message message to print if error happens | ||
| */ | ||
| public static void checkError(ErrorCode errorCode, String message) { | ||
| if (errorCode != ErrorCode.OK) { | ||
| DriverStation.reportError(message + " " + errorCode, false); | ||
| } | ||
| } | ||
|
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| public static boolean checkErrorAndRetry(Supplier<StatusCode> function, int numTries) { | ||
| StatusCode code = function.get(); | ||
| int tries = 0; | ||
| while (code != StatusCode.OK && tries < numTries) { | ||
| DriverStation.reportWarning("Retrying CTRE Device Config " + code.getName(), false); | ||
| code = function.get(); | ||
| tries++; | ||
| } | ||
| if (code != StatusCode.OK) { | ||
| DriverStation.reportError( | ||
| "Failed to execute phoenix pro api call after " + numTries + " attempts", false); | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
|
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| /** | ||
| * checks the specified error code and throws an exception if there are any issues | ||
| * | ||
| * @param errorCode error code | ||
| * @param message message to print if error happens | ||
| */ | ||
| public static void checkErrorWithThrow(ErrorCode errorCode, String message) { | ||
| if (errorCode != ErrorCode.OK) { | ||
| throw new RuntimeException(message + " " + errorCode); | ||
| } | ||
| } | ||
|
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| public static boolean checkErrorAndRetry(Supplier<StatusCode> function) { | ||
| return checkErrorAndRetry(function, 5); | ||
| } | ||
| } |
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