Add StatusSignalRefresher and update MotorIOTalonFX to use it#249
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Add StatusSignalRefresher and update MotorIOTalonFX to use it#249
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godmar
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Easy enough. Good to have confirmation from another team.
Could be further optimized.
| * @param signal A BaseStatusSignal to add | ||
| */ | ||
| public static void addSignal(CANBus bus, BaseStatusSignal signal) { | ||
| if (!canBusToSignalsMap.containsKey(bus)) { |
godmar
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I think it can be more optimized a bit
godmar
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| * CommandScheduler.getInstance().run()} in the robot periodic to work properly. | ||
| */ | ||
| public static void refreshAll() { | ||
| if (canBusToSignalsMap.isEmpty()) { |
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This check is redundant. If canBusToSignalsMap is empty, then buses.length == 0 and the next loop will be skipped.
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(this is logically part of #249)
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* (#246) Add arbitrary feedforward support * (#246) Rename arbitrary to supplemental, fix typo in javadoc mixing up spark with talon * (#246) Name back to arbitrary at preston's request * (#246) Add arb FF voltage option for SparkMax IOs * (#249) removed redundant if() in refreshAll (this is logically part of #249) --------- Co-authored-by: Godmar Back <godmar@gmail.com>
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Adds a StatusSignalRefresher based on team422's CtreBaseRefreshManager.
Updates MotorIOTalonFX to use this signal refresher.