Added idle mode to TalonSRX and VictorSPX

lasarobotics · Nov 19, 2024 · dacc252 · dacc252
1 parent 657ddc3
commit dacc252
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diff --git a/src/main/java/org/lasarobotics/hardware/ctre/TalonSRX.java b/src/main/java/org/lasarobotics/hardware/ctre/TalonSRX.java
@@ -14,6 +14,7 @@
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
 import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
 import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 
 /** TalonSRX */
 public class TalonSRX extends LoggableHardware {
@@ -277,6 +278,14 @@ public void enableCurrentLimit(boolean enable) {
     m_talon.enableCurrentLimit(enable);
   }
 
+  /**
+   * Sets the idle mode setting for the TalonSRX
+   * @param mode Idle mode (coast or brake)
+   */
+  public void setIdleMode(NeutralMode mode) {
+    m_talon.setNeutralMode(mode);
+  }
+
   /**
    * Configure the peak allowable current (when current limit is enabled).
    *

diff --git a/src/main/java/org/lasarobotics/hardware/ctre/VictorSPX.java b/src/main/java/org/lasarobotics/hardware/ctre/VictorSPX.java
@@ -10,6 +10,7 @@
 import org.littletonrobotics.junction.inputs.LoggableInputs;
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
 
 /** VictorSPX */
 public class VictorSPX extends LoggableHardware {
@@ -133,6 +134,14 @@ public void setVoltage(double outputVolts) {
     m_victor.setVoltage(outputVolts);
   }
 
+  /**
+   * Sets the idle mode setting for the VictorSPX
+   * @param mode Idle mode (coast or brake)
+   */
+  public void setIdleMode(NeutralMode mode) {
+    m_victor.setNeutralMode(mode);
+  }
+
   /**
    * Common interface to stop the motor until Set is called again.
    */