experimental can optimizations

Iron-Panthers · Apr 2, 2024 · d9c1617 · d9c1617
1 parent cd54fe0
commit d9c1617
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diff --git a/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java b/src/main/java/frc/robot/subsystems/DrivebaseSubsystem.java
@@ -6,6 +6,8 @@
 
 import static frc.robot.Constants.Drive.*;
 
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.hardware.ParentDevice;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrain;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModule;
@@ -208,6 +210,10 @@ public DrivebaseSubsystem(VisionSubsystem visionSubsystem) {
             swerveDrivetrain.getModule(2),
             swerveDrivetrain.getModule(3)
           };
+
+      for(SwerveModule swerveModule : swerveModules) {
+        // disables all unspecified CAN signals, OK because api does for us
+        ParentDevice.optimizeBusUtilizationForAll(swerveModule.getDriveMotor(), swerveModule.getSteerMotor(), swerveModule.getCANcoder());       }
     } else {
       swerveDrivetrain = null;
     }

diff --git a/src/main/java/frc/robot/subsystems/PivotSubsystem.java b/src/main/java/frc/robot/subsystems/PivotSubsystem.java
@@ -57,6 +57,7 @@ public PivotSubsystem() {
     pivotMotor.setInverted(true);
     pivotMotor.clearStickyFaults();
     pivotMotor.set(0);
+    pivotMotor.optimizeBusUtilization(); // disable all CAN signals, OK because relies on encoder anyways
 
     pivotMotor.setNeutralMode(NeutralModeValue.Brake);
 

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -4,8 +4,10 @@
 
 package frc.robot.subsystems;
 
+import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.hardware.ParentDevice;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.networktables.GenericEntry;
@@ -87,6 +89,9 @@ public ShooterSubsystem() {
     acceleratorMotor.clearStickyFaults();
     rollerMotorBottom.clearStickyFaults();
 
+    ParentDevice.optimizeBusUtilizationForAll(rollerMotorTop, rollerMotorBottom); // disables all CAN status signals
+    BaseStatusSignal.setUpdateFrequencyForAll(100, rollerMotorTop.getVelocity(), rollerMotorBottom.getVelocity()); // specifies which CAN signal to enable
+
     rollerMotorBottom.setControl(new Follower(rollerMotorTop.getDeviceID(), false));
 
     acceleratorMotor.setInverted(true);