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Update YAMS for SPARK MAX and SPARK Flex firmware 27.0.0 - #250
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… note SPARK firmware 27.0.0 in the migration guide SPARK MAX firmware 27 replaced the NEO hall sensor's moving average, which the 112 ms delay came from, with a filter REV does not describe.
…te that it predates firmware 27
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REV released SPARK MAX 27.0.0 and SPARK Flex 27.0.0. Most of it is the firmware catching up with REVLib 2027, which YAMS already uses: YAMS sets no conversion factors, treats the position wrap range as feedback sensor rotations, and gives the SPARK's absolute encoder a range offset instead of zero centered.
Changes
SparkWrapper): the 112 ms delay comes from the 8 sample, 32 ms hall sensor moving average, which firmware 27 replaces with a filter REV does not describe. SysId needs a delay, so 112 ms stays, with a TODO to measure the new filter's. Other encoders' delays are read back from the SPARK, so the new default average depth and sample delta are picked up already.Testing