Closed beardedone55 closed 3 weeks ago
@beardedone55 could you rebase against main? I just upgraded the build tooling so this should get the CI build working again
@beardedone55 could you rebase against main? I just upgraded the build tooling so this should get the CI build working again
Done.
Sorry for the delay in reviewing/merging this in @beardedone55 , but this looks good to go now!
Great! Thank you!
@beardedone55 feel free to put in a PR to allwpilib with the necessary halsim_xrp changes. Thanks again for the help with the firmware :)
I've submitted pull request wpilibsuite/allwpilib#6795 with the necessary halsim_xrp changes.
This change addresses issue #39. It adds code to calculate the encoder period (time between encoder pulses) and sends the data from the XRP to the robot code on the PC running the simulation. This change will allow the robot code to determine the motor speeds on the XRP using the Encoder::getRate() function.
For this to work, a corresponding change is necessary in WPILIB. I've included the change below. I've made sure that both this change and the change I am proposing for WPILIB are backward compatible. If this change is accepted, I will submit my WPILIB change for inclusion in their repository.