Add CAN message schema to wpilib-ws.yaml and add 2 CANMotor props #6651
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… <brakeMode to CANMotor.
CoolSpy3
reviewed
May 23, 2024
| const: SimDevice | ||
| device: | ||
| type: string | ||
| format: "[^:]+" |
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It's not written in the spec that other devices cannot have colons in the name. Might I suggest (although a bit more verbose)
Suggested change
| format: "[^:]+" | |
| format: "([^:]+|(?!DutyCycle|CAN(Motor|Encoder|Gyro|Accel|AIn|DIO|DutyCycle)).*:.*)+" |
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Latest commit uses a slightly shorter and imo clearer regex.
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I agree! Your version is clearer :D
…not covered by the specific cases.
add missing `$` in `$ref`
Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
PeterJohnson
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May 24, 2024
chauser
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May 30, 2024
…ps (wpilibsuite#6651) Co-authored-by: CoolSpy3 <coolspythree@gmail.com>
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We use
wpilib-ws.yamlto auto-generate code designed to work with halsim_ws and are adding support for CAN devices. This PR:wpilib-ws.yamlto reflect the specificSimDevicetype messages described in the CAN messages section (and hardware/DutyCycle section) of the api doc."<neutralDeadband"and"<brakeMode"as 2 new data properties for CANMotor messages. These are needed so that a simulated CANMotor can respond appropriately (including setting">motorCurrent"and/or">supplyCurrent") when"<percentOutput"is set.