Spark position wrapping with REVLib 2027
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Assessment
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Newbie friendliness
- 45/100
Research direction
Start with the Java configuration entry point ClosedLoopConfig.positionWrappingEnabled and the relative-encoder setup, then trace how position wrapping handles its [0, 1) range after positionWrappingInputRange and positionConversionFactor were removed. Compare the available configuration with the swerve turn-controller use case; done means the intended mechanism-reduction behavior and supported configuration path are established.
Written by the indexing model from the issue text.
Description
What is the intended way of using closed-loop position wrapping (i.e. ClosedLoopConfig.positionWrappingEnabled) on a Spark using a relative encoder? I see that it wraps to [0, 1) rotations after the removal of positionWrappingInputRange, but as far as I can tell there's no way to configure the mechanism reduction after the removal of positionConversionFactor. Am I missing a config option somewhere? This was a useful feature when using a Spark as a turn controller for swerve.
It's possible to work around this by manually wrapping the setpoints in the robot program, but that's obviously not ideal.
- Dominant language
- Java
- Stars
- 190
- Forks
- 25
- Avg merge
- 6h 20m
- Merged PRs (30d)
- 12
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