Missing encoder values from extension

[JediScoy]

Looking at Snapshot in Tuner, we are getting readings for absolute but relative stays at zero even after manually moving the arm. This is causing issues with other commands that rely on encoder readings.

References

CTRE docs CTRE manual as a PDF

[JediScoy]

• [ ] Are we using relative or absolute encoder for extension or both? Snapshot says its set to Quad/Mag (rel) which leads me to think relative approach.
• [ ] Assuming we stay with relative approach, maybe try another relative Feedback?
• [ ] Is code resetting the relative values somehow?
• [ ] Double check (simplify temporarily) the code to make sure we are calling/reading those values
• [ ] Are the sensor phase measurements and motor output in phase? Sensor phase describes the relationship between the motor output direction (positive vs negative) and sensor velocity (positive vs negative). For soft-limits and closed-loop features to function correctly, the sensor measurement and motor output must be “in-phase”.

[JediScoy]

Changed from Quad to PulseWithWidth(abs) in Tuner. Shaun is working on setting that in code as well