Fix pos/vel mixup in sim encoder

FRC5190 · Apr 20, 2020 · 13fc50f · 13fc50f
1 parent bab8af4
commit 13fc50f
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconEncoder.kt b/wpi/src/main/kotlin/org/ghrobotics/lib/motors/AbstractFalconEncoder.kt
@@ -25,12 +25,12 @@ abstract class AbstractFalconEncoder<K : SIKey>(
     private val simPositionHandle: SimDouble? = simDevice?.createDouble("Position, ${units::class.java.simpleName}s", false, 0.0)
     private val simVelocityHandle: SimDouble? = simDevice?.createDouble("Velocity, ${units::class.java.simpleName}s/s", false, 0.0)
 
-    override fun setSimulatedPosition(position: SIUnit<K>) {
-        simPositionHandle?.set(position.value)
+    override fun setSimulatedPosition(simPosition: SIUnit<K>) {
+        simPositionHandle?.set(simPosition.value)
     }
 
-    override fun setSimulatedVelocity(velocity: SIUnit<Velocity<K>>) {
-        simVelocityHandle?.set(position.value)
+    override fun setSimulatedVelocity(simVelocity: SIUnit<Velocity<K>>) {
+        simVelocityHandle?.set(simVelocity.value)
     }
 
     override val position: SIUnit<K>

diff --git a/wpi/src/main/kotlin/org/ghrobotics/lib/motors/FalconEncoder.kt b/wpi/src/main/kotlin/org/ghrobotics/lib/motors/FalconEncoder.kt
@@ -17,14 +17,14 @@ import org.ghrobotics.lib.mathematics.units.nativeunit.NativeUnitVelocity
 interface FalconEncoder<K : SIKey> {
 
     /**
-     * Sets the simulated [position] of this motor.
+     * Sets the simulated [simPosition] of this motor.
      */
-    fun setSimulatedPosition(position: SIUnit<K>)
+    fun setSimulatedPosition(simPosition: SIUnit<K>)
 
     /**
-     * Sets the simulated [velocity] of this motor.
+     * Sets the simulated [simVelocity] of this motor.
      */
-    fun setSimulatedVelocity(velocity: SIUnit<Velocity<K>>)
+    fun setSimulatedVelocity(simVelocity: SIUnit<Velocity<K>>)
 
     /**
      * The velocity of the encoder in [K]/s. When in a simulation, returns the simulated velocity.