Add Support for Encoder Period on XRP #6795
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The XRP firmware has been updated to provide the encoder period along with the encoder count. This change allows WPILIB to use the encoder period data from the XRP so that the GetRate function can be used to determine the motor speed.
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zhiquanyeo
approved these changes
Jul 2, 2024
This was referenced Jan 3, 2025
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The XRP firmware has been updated to provide the encoder period along with the encoder count. (See Pull Request wpilibsuite/xrp-wpilib-firmware#40)
This change allows WPILIB to use the encoder period data from the XRP so that the GetRate function can be used to determine the motor speed.
This change is designed to be backward compatible with previous versions of the XRP firmware that do not provide the encoder period.