Motor Controller Features

[gjurgiel]

• Current limit (Both)
• Open loop power and ramp limits (Both)
• Closed loop power and ramp rates (Both)
• Test analogue and absolute encoders (SparkMax)
• Remote encoders (TalonFX)

Comment anything I forgot

[theVerySharpFlat]

Analogue encoders for the sparkmax sounds like a good feature to have, but I doubt we're going to use it next year since we're doing falcons. However, maybe I'll create a PR that just sits unmerged until we find out that we actually do need this :).

[gjurgiel]

Yeah, I think I added that before we had officially decided which motors we were using. Also I think its already implemented (with some terribly hacky pointer code), we just haven't tested it.

[gjurgiel]

A little unrelated, but I think we might consider removing SmartMotion/MotionMagic support since I can't envision a situation we would use it. Power and ramp limits on PID outputs are more than capable of preventing jerkiness, and any motion profiling we do use is better suited to going on the roboRIO side. It just takes up space the constructor.

[theVerySharpFlat]

#31

[theVerySharpFlat]

@gcjurgiel It seems that the SparkMaxes also have support for CAN encoders. IDK if it's worth implementing though.

Edit: Nevermind. The CANEncoder class isn't something that the user can just create and I think it just refers to the onboard encoder.