Rotation sensors now reverse as trackers #175 #176

EZ-Template-Example-Project/src/main.cpp

@@ -157,7 +157,7 @@ void ez_template_etxras() {
                      1);  // Don't override the top Page line
       }
       // This is Blank Page 2, it will display every tracking wheel.
-      // Make sure the tracking wheels read POSITIVE going forwards or left.
+      // Make sure the tracking wheels read POSITIVE going forwards or right.
       else if (ez::as::page_blank_is_on(1)) {
         if (chassis.odom_left_tracker != nullptr)
           screen_print("left tracker: " + std::to_string(chassis.odom_left_tracker->get()), 1);

src/EZ-Template/tracking_wheel.cpp

@@ -39,6 +39,7 @@ tracking_wheel::tracking_wheel(int port, double wheel_diameter, double distance_
     : adi_encoder(-1, -1, false),
       smart_encoder(abs(port)) {
   IS_TRACKER = DRIVE_ROTATION;
+  smart_encoder.set_reversed(util::reversed_active(port));
 
   distance_to_center_set(distance_to_center);
   wheel_diameter_set(wheel_diameter);

src/autons.cpp

@@ -43,7 +43,7 @@ void default_constants() {
   // - if you have tracking wheels, you can run this lower
   chassis.odom_turn_bias_set(1.375);
 
-// This sets the maximum distance away from target that the carrot point can be
+  // This sets the maximum distance away from target that the carrot point can be
   chassis.odom_boomerang_distance_set(12_in);
 
   // Defaults the turn behavior to always go the shortest way

src/main.cpp

@@ -168,7 +168,7 @@ void ez_template_etxras() {
                      1);  // Don't override the top Page line
       }
       // This is Blank Page 2, it will display every tracking wheel.
-      // Make sure the tracking wheels read POSITIVE going forwards or left.
+      // Make sure the tracking wheels read POSITIVE going forwards or right.
       else if (ez::as::page_blank_is_on(1)) {
         if (chassis.odom_left_tracker != nullptr)
           screen_print("left tracker: " + std::to_string(chassis.odom_left_tracker->get()), 1);