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GwhsRobotics3 / Team-5507-2018

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Read encoder position from WPI_TalonSRX objects instead of creating Encoder objects #2

Closed gregmarra closed 6 years ago

gregmarra commented 6 years ago

https://github.com/GwhsRobotics3/Team-5507-2018/blob/master/src/org/usfirst/frc/team5507/robot/subsystems/DriveTrain.java#L31

Our encoders are not directly connected to the RoboRio, but are connected through the TalonSRX's. This means that rather than having an Encoder object, we will instead use a method on our WPI_TalonSRX objects to read the encoders.

We are in fact already reading the magnetic encoder on the front left WPI_TalonSRX and logging it to SmartDashboard: https://github.com/GwhsRobotics3/Team-5507-2018/blob/master/src/org/usfirst/frc/team5507/robot/subsystems/DriveTrain.java#L82

gregmarra commented 6 years ago

This was fixed, now we have DriveTrain.getCurrentPos() at https://github.com/GwhsRobotics3/Team-5507-2018/blob/b4d3e1d5e899132185e9f7b9711d5a92f322d659/src/org/usfirst/frc/team5507/robot/subsystems/DriveTrain.java#L112