LakeEffectRobotics / LakeEffectRobotics/LER_2019

Make CANEncoders directly give position/velocity in inches

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#38 2 comments 0 reactions 1 assignee View on GitHub

@emka725 is already working on this.

Since Feb 24, 2019.

Programming :woman_technologist:
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Description

This can be done by using the methods [CANEncoder].setPositionConversionFactor(x) and [CANEncoder].setVelocityConversionFactor(x). I have all the math down for converting between rotations/distance, so this part will be easy. Afterwards, we can cut out all the conversion methods I wrote a while ago to remove confusion.

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