From: mixxlto <maxtan0626@gmail.com>
Date: Fri, 23 Jan 2026 05:43:19 +0000 (-0800)
Subject: encoder offsets logged
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=0859d61364bfefb7a5b3297cc602b0d36adf9f70;p=FRC2026.git

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 6fa9d46..d0ada94 100644
--- 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 fece5cf..256eda1 100644
--- 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. */