Package com.marswars.util

Class PhoenixUtil

java.lang.Object

com.marswars.util.PhoenixUtil

public class PhoenixUtil
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	PhoenixUtil.TalonFXMotorControllerSim
static class	PhoenixUtil.TalonFXMotorControllerWithRemoteCancoderSim

Constructor Summary

Constructors

Constructor	Description
PhoenixUtil()

Method Summary

Modifier and Type	Method	Description
static double[]	getSimulationOdometryTimeStamps()	Gets an array of timestamps for simulation odometry updates.
static InvertedValue	toInvertedValue(boolean isInverted)	Converts a boolean invert flag to a Phoenix InvertedValue enum.
static void	tryUntilOk(int maxAttempts, Supplier<StatusCode> command)	Attempts to run the command until no error is produced.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

PhoenixUtil

public PhoenixUtil()

Method Details

tryUntilOk

public static void tryUntilOk(int maxAttempts,
 Supplier<StatusCode> command)

Attempts to run the command until no error is produced.

toInvertedValue

public static InvertedValue toInvertedValue(boolean isInverted)

Converts a boolean invert flag to a Phoenix InvertedValue enum.

Parameters:

isInverted - true if the motor should be inverted, false otherwise

Returns:

the corresponding InvertedValue enum

getSimulationOdometryTimeStamps

public static double[] getSimulationOdometryTimeStamps()

Gets an array of timestamps for simulation odometry updates.

Returns:

an array of timestamps covering one simulation period