Send 2022 encoder values in meters
Be more consistent with how the drivetrain position message manages
things and just convert to meters.
This doesn't break logs, because no logfiles with the int-based encoder
counts exist.
Change-Id: I261f11f7f2e6a3c2f62d856e41ffb8ae179f49c2
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2022/localizer/imu.cc b/y2022/localizer/imu.cc
index dbdc1a1..db7ec8f 100644
--- a/y2022/localizer/imu.cc
+++ b/y2022/localizer/imu.cc
@@ -2,6 +2,7 @@
#include "aos/util/crc32.h"
#include "glog/logging.h"
+#include "y2022/constants.h"
namespace y2022::localizer {
@@ -120,8 +121,10 @@
// extra data from the pico
imu_builder.add_pico_timestamp_us(pico_timestamp);
- imu_builder.add_left_encoder(encoder1_count);
- imu_builder.add_right_encoder(encoder2_count);
+ imu_builder.add_left_encoder(
+ constants::Values::DrivetrainEncoderToMeters(encoder1_count));
+ imu_builder.add_right_encoder(
+ constants::Values::DrivetrainEncoderToMeters(encoder2_count));
imu_builder.add_previous_reading_diag_stat(diag_stat_offset);
}