When you make a ChassisControllerFactory with specified encoders, like this:
auto myChassis = ChassisControllerFactory::create(
{1, 2}, {-3, -4},
ADIEncoder(‘A’, ‘B’, true), ADIEncoder(‘C’, ‘D’),
IterativePosPIDController::Gains{0.001, 0, 0.0001},
IterativePosPIDController::Gains{0.001, 0, 0.0001},
IterativePosPIDController::Gains{0.001, 0, 0.0001},
AbstractMotor::gearset::green,
{2.75_in, 10.5_in}
);
Will functions such as moveDistance and turnAngle get sensor data from the specified encoders and not the integrated encoders in the motors? What about the 2D motion profiling?
I ran a test and when I inputted quad encoders similar to above, moveDistance and turnAngle stopped working properly, but the 2D motion profiling worked the same before and after.