commit e4a8c6c24f636a763b512a3f87dee2225762d817
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Jun 14 18:27:21 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Jun 14 18:28:48 2024 -0700
tree d69bfdc961979df7d3b7fb473c5b608220d22aec
parent 4bcb27c5a5564793caf5fea813099a5de2d2f140

Update encoder ports for swerve drivebase

Change-Id: I666cabcf1df160c81b30baa65381c9aaa75e1a87
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024_swerve/wpilib_interface.cc

diff --git a/y2024_swerve/wpilib_interface.cc b/y2024_swerve/wpilib_interface.cc
index 853164f..579f075 100644
--- a/y2024_swerve/wpilib_interface.cc
+++ b/y2024_swerve/wpilib_interface.cc
@@ -215,16 +215,16 @@
     SensorReader sensor_reader(&sensor_reader_event_loop, values, modules);
 
     sensor_reader.set_front_left_encoder(
-        make_encoder(1), std::make_unique<frc::DigitalInput>(1));
+        make_encoder(3), std::make_unique<frc::DigitalInput>(3));
 
     sensor_reader.set_front_right_encoder(
-        make_encoder(0), std::make_unique<frc::DigitalInput>(0));
+        make_encoder(1), std::make_unique<frc::DigitalInput>(1));
 
-    sensor_reader.set_back_left_encoder(make_encoder(2),
-                                        std::make_unique<frc::DigitalInput>(2));
+    sensor_reader.set_back_left_encoder(make_encoder(4),
+                                        std::make_unique<frc::DigitalInput>(4));
 
     sensor_reader.set_back_right_encoder(
-        make_encoder(3), std::make_unique<frc::DigitalInput>(3));
+        make_encoder(0), std::make_unique<frc::DigitalInput>(0));
 
     AddLoop(&sensor_reader_event_loop);