Add support to Talon SRX for an integrated absolute encoder

[WispySparks]

First time working around the codebase, I went this route because I don't think you can really have a reference to a talon's sensor like you can with revlib. Not sure if this all looks right

[thenetworkgrinch]

This shouldnt work, you didnt create the wrapper for a psuedo absolute encoder like we discussed.

It is a good attempt but I would not accept it in its current state. The other issue is you seem to forget that the absolute encoder is ALWAYS right, the absolute encoder can change the position, NOT the motor controller.

An acceptable trade off which i may consider is implementing both abstractions for motor controllers and absolute encoders in one class but i dont think that will work out well.

[thenetworkgrinch]

You can rely on the TalonSRX sensor which is an attached absolute encoder. You just need to create a wrapper which stores the same motor object (NOT CREATE A NEW ONE) and exclusively polls the encoder position in the correct units.

[thenetworkgrinch]

You're getting closer!! Good job!

[thenetworkgrinch]

Last thing is, since this is a larger change than normal, please test this on an actual robot and let us know when you do! Once it is tested it can be merged. (Note: This does NOT need to be tested by you, just an actual robot)

[WispySparks]

Okay it might be a while until this is able to be tested but I'll let you know

[thenetworkgrinch]

Any updates on this?

[WispySparks]

Our swerve is in the process of being built over the summer, we still need to make a belly plate and wire stuff up but we only meet once a week. I'll let you know once we're testing stuff

[thenetworkgrinch]

Any updates in regards to testing? :D

[WispySparks]

Still working through haha, at the point of tuning PID now I believe

[WispySparks]

Currently we're doing a bandaid fix for selecting the current sensor into the TalonSRX because for some reason it's getting set to QuadEncoder instead of PulseWidth. I've looked through my pr'ed code and YAGSL code for a while but still haven't found the issue so we're doing this for now to get swerve up and running.

swerveDrive = parser.createSwerveDrive(SwerveK.maxRobotSpeed.in(MetersPerSecond), angleConversionFactor, driveConversionFactor);
for (var mod : swerveDrive.getModules()) { // Bandaid Solution
    var motor = (WPI_TalonSRX) mod.getAngleMotor().getMotor();
    motor.configSelectedFeedbackSensor(FeedbackDevice.PulseWidthEncodedPosition);
}

[thenetworkgrinch]

Huh thats odd, you shouldnt need to, maybe you should make that checkc not use .getMotor instead check if its a wrapper type

[cmdada]

If you need a swerve bot with talons to test on I have access to am swerve with talon srxs on turning and would happily test code for it

[WispySparks]

I'll be in the shop tomorrow testing that last change for the sensor being selected (I only did it in sim so far) and then this should be good to go.

[WispySparks]

Everything looks good on my end, this should be good to merge.

[thenetworkgrinch]

Almost i need to merge beta into dev then add a new function i recently added to the SwerveMotor.java

[thenetworkgrinch]

Could you resolve the conflicts when you get a chance?

[thenetworkgrinch]

Just in time for the 2025 release!