Drivetrain code #1
Conversation
e0f5d86 to
faa3223
Compare
src/main/java/org/team1540/robot2025/subsystems/drive/DrivetrainConstants.java
Show resolved
Hide resolved
src/main/java/org/team1540/robot2025/subsystems/drive/GyroIOPigeon2.java
Show resolved
Hide resolved
src/main/java/org/team1540/robot2025/subsystems/drive/ModuleIOTalonFX.java
Show resolved
Hide resolved
src/main/java/org/team1540/robot2025/subsystems/drive/ModuleIOTalonFX.java
Show resolved
Hide resolved
src/main/java/org/team1540/robot2025/subsystems/drive/ModuleIOTalonFX.java
Show resolved
Hide resolved
| synchronized (driveConfig) { | ||
| driveConfig.MotorOutput.NeutralMode = enabled ? NeutralModeValue.Brake : NeutralModeValue.Coast; | ||
| lastDriveConfigStatus = | ||
| PhoenixUtil.tryUntilOk(5, () -> drive.getConfigurator().apply(driveConfig.MotorOutput, 0.25)); |
There was a problem hiding this comment.
So you can change the neutral mode of a spinning motor and it doesn't affect it? Please confirm this with docs or testing
There was a problem hiding this comment.
This has been tested, but it would definitely be beneficial to test this more. I did take this code from 6328 who used it all of last year without problems, however.
There was a problem hiding this comment.
Also neutral mode only an impact on motor behavior when it's outputting 0V, so changing neutral mode while spinning shouldn't affect anything.
There was a problem hiding this comment.
In theory sure but it depends on how their firmware deals with config applications. It could be blocking motor-side, in which case PID loops won't recalculate until it's done.
Initial drivetrain code.