Doubles and StatusSignal Double

Technical Programming
1

So we are trying to read out CANcoders for swerve drive. We are using
public Rotation2d getCanCoder() { return Rotation2d.fromDegrees(angleEncoder.getAbsolutePosition()); }
We are getting an error because rotation2d.fromdegrees is expecting a double, but angleEncoder.getAbsolutePosition() is a StatusSignal Double from CTRE.
Is there any way to convert from one to the other?

Thank you.

2

StatusSignal is a generic class that offers methods to expose the enclosed type. If you need a double, then it would seem that getValue() would meet your needs.

1 Like
3

Not related to your question, but your code has a unit error. CANCoders return position in rotations, not degrees. You want this:

Rotation2d.fromRotations(angleEncoder.getAbsolutePosition().getValue())
2 Likes
4

Was this a new change this year? I used this exact same code last year but now I’m needing to tweak things because of library changes.

5

Yes the CTRE API has massively changed since last year. It is very important for you to check 3rd party library documentation for breaking changes as a software developer.

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6

You probably used CTRE’s Phoenix 5 vendor library last year, but you’re using Phoenix 6 this year.

Phoenix 6 was available last year, but you had to pay extra for Phoenix Pro to use it. This year it’s free-to-use with upgraded features if you buy Phoenix Pro.

Here’s the API migration guide with info about moving from 5 to 6.

1 Like