PROS how to get the correct relative degees?

Programming Support
1

I use the PROS extension to program, and I have questions on how to get relative degrees rather than absolute positon.
In the opcontrol, I write these code

void opcontrol() {
	master.clear();
	
	int a = 0;

	int Ch1, Ch2, Ch3, Ch4;
 	bool L1, L2, R1, R2, BtnA, BtnB, BtnX, BtnY, BtnU, BtnD, BtnL, BtnR;
	
	while (true) {
		//Controller value defination
		Ch1 = master.get_analog(ANALOG_RIGHT_X);
		Ch2 = master.get_analog(ANALOG_RIGHT_Y);
		Ch3 = master.get_analog(ANALOG_LEFT_Y);
		Ch4 = master.get_analog(ANALOG_LEFT_X);
		L1 = master.get_digital(DIGITAL_L1);
		L2 = master.get_digital(DIGITAL_L2);
		R1 = master.get_digital(DIGITAL_R1);
		R2 = master.get_digital(DIGITAL_R2);
		BtnA = master.get_digital(DIGITAL_A);
		BtnB = master.get_digital(DIGITAL_B);
		BtnX = master.get_digital(DIGITAL_X);
		BtnY = master.get_digital(DIGITAL_Y);
		BtnU = master.get_digital(DIGITAL_UP);
		BtnD = master.get_digital(DIGITAL_DOWN);
		BtnL = master.get_digital(DIGITAL_LEFT);
		BtnR = master.get_digital(DIGITAL_RIGHT);

		
		pros::lcd::print(2,"%d",leftchassis.get_raw_position(NULL,2));

		
    	
	
		//Screen Display
		pros::lcd::set_text(1,"Running Driver Control!");
		pros::lcd::print(0, "%d %d %d", (pros::lcd::read_buttons() & LCD_BTN_LEFT) >> 2,
		                 (pros::lcd::read_buttons() & LCD_BTN_CENTER) >> 1,
		                 (pros::lcd::read_buttons() & LCD_BTN_RIGHT) >> 0);  // Prints status of the emulated screen LCDs

		//==================================================
		if(abs(Ch1)>7 or abs(Ch3) > 7)
		{
		leftchassis.move(Ch3 - Ch1);
		rightchassis.move(Ch3 + Ch1); 
		}

		else
		{
			leftchassis.set_brake_mode(pros::motor_brake_mode_e_t::E_MOTOR_BRAKE_COAST);
			rightchassis.set_brake_mode(pros::motor_brake_mode_e_t::E_MOTOR_BRAKE_COAST);
			leftchassis.brake();
			rightchassis.brake();
		}          

		if(BtnY && a==0)
		{
			Mego.set_value(1);
			WaitUntil(!master.get_digital(DIGITAL_Y));
			a=1;
		}

		else if (master.get_digital(DIGITAL_Y) && a==1)
		{
			Mego.set_value(0);
			WaitUntil(!master.get_digital(DIGITAL_Y));
			a=0;
		}



		pros::delay(20);                               // Run for 20 ms then update

		
	}
}

This code can retern and print the motor_group’s relative degrees , but it is not correct. For example, running the program, I let motor move, And it shows the relative degrees is 15757, but when I check the "Device " in the Brain, it shows the correct relative degrees is 18908. The difference in degrees is too large. Is there any solutions to solve this problem???

2

Well, I think I solve the problems. The solution is that when you define a motor or motor group, use"deg" for the motor encoder units. Just like this:

pros::MotorGroup leftchassis({-3,-4,9},pros::v5::MotorGears::blue,pros::v5::MotorEncoderUnits::deg);

Then you can use the motor’s function “motor.get_position()” to get the current and correct relative degrees.
But I eventually don’t understand the diffrent between “deg” and “degrees”. It seems like the same thing. We usually think of a motor rotation as 360 degrees, and using “deg” as the encoder units return value is indeed the case. But with “degrees”, the value returned by one rotation of the motor is 300. I don’t know whether my understand of this is correct?