Merge pull request FIRST-Tech-Challenge#4 from goBILDA-Official/Encod…

…er-Direction-Bugfix Encoder direction bugfix
BB-Mentor · Oct 11, 2024 · 3e5f47a · 3e5f47a
2 parents 36b3283 + 9a85c81
commit 3e5f47a
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GoBildaPinpointDriver.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GoBildaPinpointDriver.java
@@ -313,9 +313,16 @@ public void setOffsets(double xOffset, double yOffset){
      * @param yEncoder FORWARD or REVERSED, Y (strafe) pod should increase when the robot is moving left
      */
     public void setEncoderDirections(EncoderDirection xEncoder, EncoderDirection yEncoder){
+        if (xEncoder == EncoderDirection.FORWARD){
+            writeInt(Register.DEVICE_CONTROL,1<<5);
+        }
         if (xEncoder == EncoderDirection.REVERSED) {
             writeInt(Register.DEVICE_CONTROL,1<<4);
         }
+
+        if (yEncoder == EncoderDirection.FORWARD){
+            writeInt(Register.DEVICE_CONTROL,1<<3);
+        }
         if (yEncoder == EncoderDirection.REVERSED){
             writeInt(Register.DEVICE_CONTROL,1<<2);
         }