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frc6995 / NOMAD-Base-2020

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TASK - NomadEncoder #38

Open shueja opened 3 years ago

shueja commented 3 years ago

Description Allow encoder data from encoders connected to motor controllers to be accessed in a manner compatible with the WPILib encoder class.

Requirements A NomadBaseMotor should have a NomadEncoder class instance inside it. Implementations of NomadEncoder provide a uniform set of methods that allow access to a feedback sensor either connected to the RIO or the motor controllers . By exposing the NomadEncoder through a getter, the NomadBaseMotor allows access to its feedback sensor for uses such as driving trajectory.

EliSauder commented 3 years ago

@shueja-personal Did you decide if this was needed or not? I know you were questioning whether or not we actually needed it.

shueja commented 3 years ago

I think it's still useful, but I'm redesigning it because we can't really subclass Encoder.