Add CAN bus configuration to Falcons

HarkerRobo · Feb 26, 2022 · 13386ce · 13386ce
1 parent 9fefdbe
commit 13386ce
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/build.gradle b/build.gradle
@@ -3,7 +3,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 plugins {
     id "java"
     id "maven-publish"
-    id "edu.wpi.first.GradleRIO" version "2022.1.1"
+    id "edu.wpi.first.GradleRIO" version "2022.3.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

diff --git a/src/harkerrobolib/wrappers/HSFalcon.java b/src/harkerrobolib/wrappers/HSFalcon.java
@@ -23,6 +23,16 @@ public HSFalcon(final int deviceNumber) {
         super(deviceNumber);
     }
 
+     /**
+     * Constructs a TalonSRXWrapper with the default timeout
+     * {{@link Constants#DEFAULT_TIMEOUT}.
+     * 
+     * @param deviceNumber The CAN device ID of the Talon.
+     */
+    public HSFalcon(final int deviceNumber, String busId) {
+        super(deviceNumber, busId);
+    }
+
     @Override
     public ErrorCode configSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, int pidIdx) {
         return super.configSelectedFeedbackSensor(feedbackDevice, pidIdx, Constants.DEFAULT_TIMEOUT);