commit 29d025c11c87e20ed040e1e5ef4a8f73e12a6ca7
author Austin Schuh <austin.linux@gmail.com> Fri Mar 03 21:41:04 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Fri Mar 03 21:41:51 2023 -0800
tree 0ce53f85252b078bd883a203adcc2b5206ca729c
parent 1780e00473114e0e37ac023fb2595837baff0858

Flip roll joint direction

New sensing strategy flips roll's sensing direction.  Rezero while we
are here.

Change-Id: Ic14a1e327b2214b83ae657ca6fedf1138d598499
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2023/wpilib_interface.cc

diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index f88e120..12a1779 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -463,7 +463,7 @@
       CopyPosition(roll_joint_encoder_, &roll_joint,
                    Values::kRollJointEncoderCountsPerRevolution(),
                    Values::kRollJointEncoderRatio(), roll_joint_pot_translate,
-                   true, values_->roll_joint.potentiometer_offset);
+                   false, values_->roll_joint.potentiometer_offset);
       frc971::AbsolutePositionT wrist;
       CopyPosition(wrist_encoder_, &wrist,
                    Values::kWristEncoderCountsPerRevolution(),