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Make drive motor encoders report positive count when moving forward #29

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merged 1 commit into from
Oct 16, 2023
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Make drive motor encoders report positive count when moving forward #29

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11 changes: 9 additions & 2 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -106,11 +106,18 @@ void sendData() {

// Encoders
for (int i = 0; i < 4; i++) {
ptr += wpilibudp::writeEncoderData(i, xrp::readEncoderRaw(i), buffer, ptr);
int encoderValue = xrp::readEncoderRaw(i);

// We want to flip the encoder 0 value (left motor encoder) so that this returns
// positive values when moving forward.
if (i == 0) {
encoderValue = -encoderValue;
}

ptr += wpilibudp::writeEncoderData(i, encoderValue, buffer, ptr);
} // 4x 7 bytes

// DIO (currently just the button)
// TODO: Line sensors too if they are configured
ptr += wpilibudp::writeDIOData(0, xrp::isUserButtonPressed(), buffer, ptr);
// 1x 4 bytes

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