commit fe09a45f163fd30f2e651d5f918c649f1f67690e
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 12 15:24:19 2022 -0800
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Mar 12 15:32:58 2022 -0800
tree eafea25d9f5ac60ead2b84d8abe0811f6bc292dd
parent 4ddda33a1707dbdbdf1c1754f3b8e263a690d423

Fix encoder signs/sides for pi localizer

Change-Id: Ibb0ba95afa733e8664a83b995cb183ba010c377a
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>

y2022/localizer/imu.cc

diff --git a/y2022/localizer/imu.cc b/y2022/localizer/imu.cc
index fed9ceb..2310e99 100644
--- a/y2022/localizer/imu.cc
+++ b/y2022/localizer/imu.cc
@@ -124,9 +124,9 @@
     // extra data from the pico
     imu_builder.add_pico_timestamp_us(pico_timestamp);
     imu_builder.add_left_encoder(
-        constants::Values::DrivetrainEncoderToMeters(encoder1_count));
+        -constants::Values::DrivetrainEncoderToMeters(encoder2_count));
     imu_builder.add_right_encoder(
-        constants::Values::DrivetrainEncoderToMeters(encoder2_count));
+        constants::Values::DrivetrainEncoderToMeters(encoder1_count));
     imu_builder.add_previous_reading_diag_stat(diag_stat_offset);
   }