Merge pull request #121 from BrysonSmith15/swerve_example_position

virtuald · web-flow · commit 4b55fefc587f · 2024-12-03T23:17:35.000-05:00
Changed the swervemodule getPosition function to use encoder distance
diff --git a/SwerveBot/swervemodule.py b/SwerveBot/swervemodule.py
@@ -94,7 +94,7 @@ def getPosition(self) -> wpimath.kinematics.SwerveModulePosition:
         :returns: The current position of the module.
         """
         return wpimath.kinematics.SwerveModulePosition(
-            self.driveEncoder.getRate(),
+            self.driveEncoder.getDistance(),
             wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
         )
 

Original file line number	Diff line number	Diff line change
`@@ -94,7 +94,7 @@ def getPosition(self) -> wpimath.kinematics.SwerveModulePosition:`
`94`	`94`	`:returns: The current position of the module.`
`95`	`95`	`"""`
`96`	`96`	`return wpimath.kinematics.SwerveModulePosition(`
`97`		`- self.driveEncoder.getRate(),`
	`97`	`+ self.driveEncoder.getDistance(),`
`98`	`98`	`wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),`
`99`	`99`	`)`
`100`	`100`