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Add error checking (and printing) for motor controller configuration #47

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Merged
brettle merged 1 commit into from
Feb 18, 2019
Merged

Add error checking (and printing) for motor controller configuration #47

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35 changes: 21 additions & 14 deletions Robot2019/src/main/java/frc/robot/RobotMap.java
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Original file line number Diff line number Diff line change
Expand Up @@ -102,19 +102,18 @@ private static BaseMotorController createConfiguredMotorController(int port) {

private static WPI_TalonSRX createConfiguredTalon(int port) {
WPI_TalonSRX tsrx = new WPI_TalonSRX(port);

// Put all configurations for the talon motor controllers in here.
// All values are from last year's code.
tsrx.configNominalOutputForward(0, 10);
tsrx.configNominalOutputReverse(0, 10);
tsrx.configPeakOutputForward(1, 10);
tsrx.configPeakOutputReverse(-1, 10);
tsrx.configPeakCurrentLimit(0, 0);
tsrx.configPeakCurrentDuration(0, 0);
catchError(tsrx.configNominalOutputForward(0, 10));
catchError(tsrx.configNominalOutputReverse(0, 10));
catchError(tsrx.configPeakOutputForward(1, 10));
catchError(tsrx.configPeakOutputReverse(-1, 10));
catchError(tsrx.configPeakCurrentLimit(0, 0));
catchError(tsrx.configPeakCurrentDuration(0, 0));
// 40 Amps is the amp limit of a CIM. lThe PDP has 40 amp circuit breakers,
tsrx.configContinuousCurrentLimit(40, 0);
catchError(tsrx.configContinuousCurrentLimit(40, 0));
tsrx.enableCurrentLimit(true);
tsrx.configNeutralDeadband(0.001, 10);
catchError(tsrx.configNeutralDeadband(0.001, 10));
tsrx.setNeutralMode(NeutralMode.Brake);

return tsrx;
Expand All @@ -124,11 +123,11 @@ private static WPI_VictorSPX createConfiguredVictor(int port) {
WPI_VictorSPX vspx = new WPI_VictorSPX(port);

// Put all configurations for the victor motor controllers in here.
vspx.configNominalOutputForward(0, 10);
vspx.configNominalOutputReverse(0, 10);
vspx.configPeakOutputForward(1, 10);
vspx.configPeakOutputReverse(-1, 10);
vspx.configNeutralDeadband(0.001, 10);
catchError(vspx.configNominalOutputForward(0, 10));
catchError(vspx.configNominalOutputReverse(0, 10));
catchError(vspx.configPeakOutputForward(1, 10));
catchError(vspx.configPeakOutputReverse(-1, 10));
catchError(vspx.configNeutralDeadband(0.001, 10));
vspx.setNeutralMode(NeutralMode.Brake);

return vspx;
Expand All @@ -139,4 +138,12 @@ private static UsbCamera configureCamera(int port) {
camera.setConnectionStrategy(VideoSource.ConnectionStrategy.kKeepOpen);
return camera;
}

/**
* Checks an error code and prints it to standard out if it is not ok
* @param ec The error code to check
*/
private static void catchError(ErrorCode ec) {
if(ec != ErrorCode.OK) System.out.println("Error configuring in RobotMap.java at line: " + new Throwable().getStackTrace()[1].getLineNumber());
}
}