add steering absolute encoders to swerve drive i/o. ticket: #11

Team-OKC-Robotics · Jan 4, 2023 · 2a95107 · 2a95107
1 parent a120dd9
commit 2a95107
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/src/main/include/io/SwerveDriveIO.h b/src/main/include/io/SwerveDriveIO.h
@@ -8,7 +8,7 @@
 
 #include "AHRS.h"
 #include "Utils.h"
-
+#include "frc/AnalogInput.h"
 
 typedef struct swerve_drive_config_t {
     double max_output_drive;
@@ -35,6 +35,12 @@ typedef struct swerve_drive_hardware_interface_t {
     // AHRS
     AHRS *const ahrs;
 
+    // Steer encoders
+    frc::AnalogInput *const left_front_steer_encoder;
+    frc::AnalogInput *const left_back_steer_encoder;
+    frc::AnalogInput *const right_front_steer_encoder;
+    frc::AnalogInput *const right_back_steer_encoder;
+
 } SwerveDriveHardwareInterface;
 
 typedef struct swerve_drive_software_interface_t {