Dead wheel overflow encoders by default

wheelerrobotics · Sep 19, 2023 · 5f2fcaf · 5f2fcaf
1 parent 334252c
commit 5f2fcaf
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ThreeDeadWheelLocalizer.java
@@ -7,6 +7,7 @@
 import com.acmerobotics.roadrunner.Vector2dDual;
 import com.acmerobotics.roadrunner.ftc.Encoder;
 import com.acmerobotics.roadrunner.ftc.FlightRecorder;
+import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 import com.acmerobotics.roadrunner.ftc.RawEncoder;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -29,9 +30,9 @@ public static class Params {
     private int lastPar0Pos, lastPar1Pos, lastPerpPos;
 
     public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
-        par0 = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0"));
-        par1 = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1"));
-        perp = new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp"));
+        par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
+        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
+        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
 
         lastPar0Pos = par0.getPositionAndVelocity().position;
         lastPar1Pos = par1.getPositionAndVelocity().position;

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/TwoDeadWheelLocalizer.java
@@ -8,6 +8,7 @@
 import com.acmerobotics.roadrunner.Vector2dDual;
 import com.acmerobotics.roadrunner.ftc.Encoder;
 import com.acmerobotics.roadrunner.ftc.FlightRecorder;
+import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
 import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
 import com.acmerobotics.roadrunner.ftc.RawEncoder;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -34,8 +35,8 @@ public static class Params {
     private final double inPerTick;
 
     public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick) {
-        par = new RawEncoder(hardwareMap.get(DcMotorEx.class, "par"));
-        perp = new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp"));
+        par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
+        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
         this.imu = imu;
 
         lastParPos = par.getPositionAndVelocity().position;