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wpilibsuite / allwpilib

Official Repository of WPILibJ and WPILibC
https://wpilib.org/
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Add Support for Encoder Period on XRP #6795

Closed beardedone55 closed 3 months ago

beardedone55 commented 3 months ago

The XRP firmware has been updated to provide the encoder period along with the encoder count. (See Pull Request wpilibsuite/xrp-wpilib-firmware#40)

This change allows WPILIB to use the encoder period data from the XRP so that the GetRate function can be used to determine the motor speed.

This change is designed to be backward compatible with previous versions of the XRP firmware that do not provide the encoder period.

zhiquanyeo commented 3 months ago

/format