[wpilib] ADIS IMUs: Add back null checks

Gold856 · Sep 22, 2024 · 4f29ce0 · 4f29ce0
1 parent 809271a
commit 4f29ce0
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Showing 3 changed files with 0 additions and 9 deletions.
diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -99,7 +99,6 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
 
     ConfigCalTime(cal_time);
 
-    // Configure standard SPI
     if (!SwitchToStandardSPI()) {
       return;
     }
@@ -174,7 +173,6 @@ ADIS16448_IMU::ADIS16448_IMU(IMUAxis yaw_axis, SPI::Port port,
           "required!");
     }
 
-    // Configure and enable auto SPI
     if (!SwitchToAutoSPI()) {
       return;
     }
@@ -366,7 +364,6 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
       }
     }
   }
-  // There doesn't seem to be a SPI port active. Let's try to set one up
   if (m_spi == nullptr) {
     m_spi = new SPI(m_spi_port);
     m_spi->SetClockRate(1000000);

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -338,7 +338,6 @@ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_
             "ADIS16448: Flash and RAM configuration consistent. No flash update required!", false);
       }
 
-      // Configure standard SPI
       if (!switchToAutoSPI()) {
         return;
       }
@@ -418,9 +417,7 @@ private boolean switchToStandardSPI() {
         System.out.println("Paused auto SPI successfully.");
       }
     }
-    // There doesn't seem to be a SPI port active. Let's try to set one up
     if (m_spi == null) {
-      System.out.println("Setting up a new SPI port.");
       m_spi = new SPI(m_spi_port);
       m_spi.setClockRate(1000000);
       m_spi.setMode(SPI.Mode.kMode3);

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -398,7 +398,6 @@ public ADIS16470_IMU(
       // Write offset calibration command to IMU
       writeRegister(GLOB_CMD, 0x0001);
 
-      // Configure and enable auto SPI
       if (!switchToAutoSPI()) {
         return;
       }
@@ -472,9 +471,7 @@ private boolean switchToStandardSPI() {
         System.out.println("Paused auto SPI successfully.");
       }
     }
-    // There doesn't seem to be a SPI port active. Let's try to set one up
     if (m_spi == null) {
-      System.out.println("Setting up a new SPI port.");
       m_spi = new SPI(m_spi_port);
       m_spi.setClockRate(2000000);
       m_spi.setMode(SPI.Mode.kMode3);