From 218cfea16bb6e517d4293ad8a7d9e03764e6462c Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Sat, 13 May 2023 00:28:32 -0400 Subject: [PATCH] [wpilib] DutyCycleEncoder: Fix reset behavior (#5287) reset should set the offset to the properly scaled position provided by getAbsolutePosition, not the raw duty cycle. --- wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp | 2 +- .../src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp index b1c943ed7b..2aae3aff36 100644 --- a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp +++ b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp @@ -164,7 +164,7 @@ void DutyCycleEncoder::Reset() { if (m_counter) { m_counter->Reset(); } - m_positionOffset = m_dutyCycle->GetOutput(); + m_positionOffset = GetAbsolutePosition(); } bool DutyCycleEncoder::IsConnected() const { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java index c33bd05889..f2bfeee3ca 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java @@ -246,7 +246,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable { if (m_counter != null) { m_counter.reset(); } - m_positionOffset = m_dutyCycle.getOutput(); + m_positionOffset = getAbsolutePosition(); } /**