Migration From 2023 CTRE API To 2024

[Bread]

Hello,

I’m the programming lead for Team 599. I’m developing our swerve code this year and we’re using am having trouble finding the 2024 equivalent of the following commands:

1. swerveCANCoderConfig.sensorTimeBase = SensorTimeBase.PerSecond;
2. swerveDriveFXConfig.initializationStrategy = SensorInitializationStrategy.BootToZero;
3. m_AngleMotor.set(ControlMode.Position, degreesToFalcon(angle));
4. m_DriveMotor.set(ControlMode.Velocity, velocity, DemandType.ArbitraryFeedForward, voltageFeedForward);

Currently I have simpleMotorFeedforwards running as replacements for commands 3 and 4, but I’m not entirely sure if it’ll work. I was thinking of setting the motor position to 0 upon initializing to address command 2, but I’m not sure how to work around/replace command 1.

These commands will be used in the HardwareConfig.java and SwerveModule.java files in the DriveTrain branch.

I’ve linked our 2024 code below:
https://github.com/Robodox-599/2024_UnnamedBot

Any help is much appreciated!

[GregoryLi]

@Bread

Hello,

I’m the programming lead for Team 599. I’m developing our swerve code this year and we’re using am having trouble finding the 2024 equivalent of the following commands:

1. swerveCANCoderConfig.sensorTimeBase = SensorTimeBase.PerSecond;
2. swerveDriveFXConfig.initializationStrategy = SensorInitializationStrategy.BootToZero;

I also could not find anything on SensorTimeBase.

For the InitializationStrategy, the Talon FX and CANcoder sensors are always initialized to their absolute position in Phoenix 6. reference:

Feature Replacements