Skip to content
This repository has been archived by the owner on Jan 13, 2025. It is now read-only.

update MaroonFramework to handle unspecified CAN bus values better #22

Merged
merged 2 commits into from
Jan 30, 2024
Merged

update MaroonFramework to handle unspecified CAN bus values better #22

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
4ebde77
pass empty string for can bus if not set in config
dejabot Jan 28, 2024
0a9a2b8
refactor common code into helper method
dejabot Jan 28, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 7 additions & 3 deletions src/main/java/com/team766/hal/wpilib/WPIRobotProvider.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,10 @@ public WPIRobotProvider() {

private PneumaticHub ph = new PneumaticHub();

private static String getStringOrEmpty(ValueProvider<String> string) {
return string.hasValue() ? string.get() : "";
}

@Override
public MotorController getMotor(
final int index,
Expand Down Expand Up @@ -139,9 +143,9 @@ public MotorController getMotor(
motor = new CANVictorMotorController(index);
break;
case TalonFX:
final ValueProvider<String> CANBus =
final ValueProvider<String> canBus =
ConfigFileReader.getInstance().getString(configPrefix + ".CANBus");
motor = new CANTalonFxMotorController(index, CANBus.get());
motor = new CANTalonFxMotorController(index, getStringOrEmpty(canBus));
break;
case VictorSP:
motor = new LocalMotorController(configPrefix, new PWMVictorSP(index), localSensor);
Expand Down Expand Up @@ -195,7 +199,7 @@ public GyroReader getGyro(final int index, String configPrefix) {
if (type.get() == GyroReader.Type.Pigeon2) {
ValueProvider<String> canBus =
ConfigFileReader.getInstance().getString(configPrefix + ".CANBus");
return new PigeonGyro(index, canBus.get());
return new PigeonGyro(index, getStringOrEmpty(canBus));
}
}

Expand Down
Loading