encoder offsets logged

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
index 6fa9d461ae17ddb4813b3179143b5782e68ab3e0..d0ada94d1fa5f92005fed2878c0da229c14e6976 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
@@ -187,6 +187,9 @@ public class Module implements ModuleIO{
       inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble();
       inputs.turnCurrentAmps = turnCurrent.getValueAsDouble();
 
+      // Update encoder inputs
+      inputs.encoderOffset = Units.rotationsToDegrees(CANcoder.getAbsolutePosition().getValueAsDouble());
+
     // Update odometry inputs
     inputs.odometryTimestamps =
         timestampQueue.stream().mapToDouble((Double value) -> value).toArray();

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/ModuleIO.java b/src/main/java/frc/robot/subsystems/drivetrain/ModuleIO.java
index fece5cfe03d8d7f423023e591a2701d4c04d165e..256eda1beb4efea1249106b94941ae789f049a09 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/ModuleIO.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/ModuleIO.java
@@ -35,6 +35,8 @@ public interface ModuleIO {
     public double[] odometryTimestamps = new double[] {};
     public double[] odometryDrivePositionsRad = new double[] {};
     public Rotation2d[] odometryTurnPositions = new Rotation2d[] {};
+
+    public double encoderOffset = 0.0;
   }
 
   /** Updates the set of loggable inputs. */