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Fixed undefined PWMDutyCycleEncoder getter/setter

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This commit is contained in:
thenetworkgrinch
2024-06-12 16:16:01 -05:00
parent 6aa91f2598
commit d308949806
1 changed files with 7 additions and 8 deletions
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15
swervelib/encoders/PWMDutyCycleEncoderSwerve.java
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@@ -26,6 +26,10 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
* An {@link Alert} for if the encoder cannot report accurate velocities.
*/
private Alert inaccurateVelocities;
/**
* The Offset in degrees of the PWM absolute encoder.
*/
private double offset;
/**
* Constructor for the PWM duty cycle encoder.
@@ -61,7 +65,7 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
@Override
public double getAbsolutePosition()
{
return (isInverted ? -1.0 : 1.0) * encoder.getAbsolutePosition() * 360;
return (isInverted ? -1.0 : 1.0) * ((encoder.get() * 360) - offset);
}
/**
@@ -105,16 +109,11 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
// Do nothing
}
/**
* Sets the offset of the Encoder in the WPILib Encoder Library.
*
* @param offset the offset the Absolute Encoder uses as the zero point.
* @return Always true due to no external device commands.
*/
@Override
public boolean setAbsoluteEncoderOffset(double offset)
{
encoder.setPositionOffset(offset);
this.offset = offset;
return true;
}