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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. * An {@link Alert} for if the encoder cannot report accurate velocities.
*/ */
private Alert inaccurateVelocities; private Alert inaccurateVelocities;
/**
* The Offset in degrees of the PWM absolute encoder.
*/
private double offset;
/** /**
* Constructor for the PWM duty cycle encoder. * Constructor for the PWM duty cycle encoder.
@@ -61,7 +65,7 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
@Override @Override
public double getAbsolutePosition() 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 // 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 @Override
public boolean setAbsoluteEncoderOffset(double offset) public boolean setAbsoluteEncoderOffset(double offset)
{ {
encoder.setPositionOffset(offset); this.offset = offset;
return true; return true;
} }