Timeout in CANSparkMaxWrapper

Prospect-Robotics · Dec 28, 2019 · 28ff85a · 28ff85a
1 parent 7fe9e71
commit 28ff85a
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Showing 2 changed files with 28 additions and 1 deletion.
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Subsystem1d.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Subsystem1d.java
@@ -19,7 +19,7 @@ abstract class Subsystem1d<P extends Subsystem1d.Position> extends Subsystem {
 	Subsystem1d(CANSparkMaxWrapper motor) {
 		try {
 			this.motor = motor;
-			motor.setPeriodicFrame(CANSparkMaxLowLevel.PeriodicFrame.kStatus2, 10);
+			motor.setPeriodicFrame(CANSparkMaxLowLevel.PeriodicFrame.kStatus2);
 			motor.set(0, ControlType.kDutyCycle);
 			motor.setNeutralMode(CANSparkMax.IdleMode.kBrake);
 		} catch (SparkMaxException e) {

diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java
@@ -2,6 +2,7 @@
 
 import com.revrobotics.*;
 import com.team2813.lib.config.Inverted;
+import com.team2813.lib.config.PeriodicFrame;
 import com.team2813.lib.config.SparkConfig;
 import com.team2813.lib.talon.CTREException;
 import com.team2813.lib.talon.TalonWrapper;
@@ -309,6 +310,10 @@ public void setTimeout(int timeoutMs) throws SparkMaxException {
 		throwIfNotOk(setCANTimeout(timeoutMs));
 	}
 
+	public void setTimeout() throws SparkMaxException {
+		setTimeout(TimeoutMode.RUNNING.valueMs);
+	}
+
 	//#region Motor Type
 
 	public void setTypeOfMotor(MotorType type) throws SparkMaxException {
@@ -347,6 +352,10 @@ public void setPeriodicFrame(PeriodicFrame frameID, int periodMs) throws SparkMa
 		throwIfNotOk(setPeriodicFramePeriod(frameID, periodMs));
 	}
 
+	public void setPeriodicFrame(PeriodicFrame frameID) throws SparkMaxException {
+		setPeriodicFrame(frameID, TimeoutMode.RUNNING.valueMs);
+	}
+
 	public void setEncoderPosition(double position) throws SparkMaxException {
 		throwIfNotOk(setEncPosition(position));
 	}
@@ -623,4 +632,22 @@ public void setInverted(InvertType invertType) {
 
 	//#endregion
 
+	/**
+	 * Enum storing different timeout values in ms for construction time
+	 * or runtime updates.
+	 */
+	public enum TimeoutMode {
+		/** Longer timeout, used for constructors */
+		CONSTRUCTING(100),
+		/** Shorter timeout, used for on the fly updates */
+		RUNNING(10),
+		NO_TIMEOUT(0);
+
+		final int valueMs;
+
+		private TimeoutMode(int valueMs) {
+			this.valueMs = valueMs;
+		}
+	}
+
 }