71 neosettypeneotype type (#77)

Patribots4738 · Jan 27, 2024 · ed43196 · ed43196
2 parents 552f6a9 + 71f0548
commit ed43196
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Showing 2 changed files with 59 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -262,6 +262,9 @@ public static final class NeoMotorConstants {
         public static final double VORTEX_FREE_SPEED_RPM = 6784;
         public static final double NEO_FREE_SPEED_RPM = 5676;
 
+        public static final int MAX_PERIODIC_STATUS_TIME_MS = 65535;
+        public static final int FAST_PERIODIC_STATUS_TIME_MS = 10;
+
         public static ArrayList<Neo> motors = new ArrayList<>();
     }
 

diff --git a/src/main/java/frc/robot/util/Neo.java b/src/main/java/frc/robot/util/Neo.java
@@ -310,9 +310,9 @@ public REVLibError resetStatusFrame(StatusFrame frame) {
     public enum StatusFrame {
         APPLIED_FAULTS_FOLLOWER(PeriodicFrame.kStatus0, 10),
         VELO_TEMP_VOLTAGE_CURRENT(PeriodicFrame.kStatus1, 20),
-        POSITION(PeriodicFrame.kStatus2, 20),
-        ANALOG_VOLTAGE_VELO_POS(PeriodicFrame.kStatus3, 50),
-        ALTERNATE_VELO_POS(PeriodicFrame.kStatus4, 20),
+        ENCODER_POSITION(PeriodicFrame.kStatus2, 20),
+        ALL_ANALOG_ENCODER(PeriodicFrame.kStatus3, 50),
+        ALL_ALTERNATE_ENCODER(PeriodicFrame.kStatus4, 20),
         ABSOLUTE_ENCODER_POS(PeriodicFrame.kStatus5, 200),
         ABSOLUTE_ENCODER_VELO(PeriodicFrame.kStatus6, 200);
 
@@ -345,4 +345,56 @@ public void setBrakeMode() {
     public void setCoastMode() {
         this.setIdleMode(CANSparkBase.IdleMode.kBrake);
     }
-}
+
+    public enum TelemtryPreference {
+        ONLY_ABSOLUTE_ENCODER,
+        ONLY_RELATIVE_ENCODER,
+        NO_TELEMETRY,
+        NO_ENCODER
+    }
+
+    /**
+     * Set the telemetry preference of the Neo
+     * This will disable the telemtry status frames 
+     * which is found at https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces#periodic-status-frames
+     * @param type the enum to represent the telemetry preference
+     *             this will tell the motor to only send 
+     *             that type of telemtry
+     */
+    public void setTelemetryPreference(TelemtryPreference type) {
+        final int maxDelay = NeoMotorConstants.MAX_PERIODIC_STATUS_TIME_MS;
+        final int minDelay = NeoMotorConstants.FAST_PERIODIC_STATUS_TIME_MS;
+
+        // No matter what preference, we don't use analog or external encoders.
+        changeStatusFrame(StatusFrame.ALL_ALTERNATE_ENCODER, maxDelay);
+        changeStatusFrame(StatusFrame.ALL_ANALOG_ENCODER, maxDelay);
+
+        switch(type) {
+            // Disable all telemetry that is unrelated to the encoder
+            case NO_ENCODER: 
+                changeStatusFrame(StatusFrame.ENCODER_POSITION, maxDelay);
+                changeStatusFrame(StatusFrame.ALL_ANALOG_ENCODER, maxDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_VELO, maxDelay);
+                break;
+            // Disable all telemetry that is unrelated to absolute encoders
+            case ONLY_ABSOLUTE_ENCODER:
+                changeStatusFrame(StatusFrame.VELO_TEMP_VOLTAGE_CURRENT, maxDelay);
+                changeStatusFrame(StatusFrame.ENCODER_POSITION, maxDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_POS, minDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_VELO, minDelay);
+                break;
+            // Disable all telemetry that is unrelated to the relative encoder
+            case ONLY_RELATIVE_ENCODER: 
+                changeStatusFrame(StatusFrame.ALL_ANALOG_ENCODER, maxDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_VELO, maxDelay);
+                break;
+            // Disable everything
+            case NO_TELEMETRY:
+                changeStatusFrame(StatusFrame.VELO_TEMP_VOLTAGE_CURRENT, maxDelay);
+                changeStatusFrame(StatusFrame.ENCODER_POSITION, maxDelay);
+                changeStatusFrame(StatusFrame.ALL_ANALOG_ENCODER, maxDelay);
+                changeStatusFrame(StatusFrame.ABSOLUTE_ENCODER_VELO, maxDelay);
+                break;
+        }
+    }
+}