From 0859d61364bfefb7a5b3297cc602b0d36adf9f70 Mon Sep 17 00:00:00 2001 From: mixxlto Date: Thu, 22 Jan 2026 21:43:19 -0800 Subject: [PATCH] encoder offsets logged --- src/main/java/frc/robot/subsystems/drivetrain/Module.java | 3 +++ src/main/java/frc/robot/subsystems/drivetrain/ModuleIO.java | 2 ++ 2 files changed, 5 insertions(+) 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. */ -- 2.39.5