Encoder Overflow when driving backwards #71

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1. Snaw3 commented on Mar 13, 2023

   

   Snaw3

   on Mar 13, 2023

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2. Snaw3 commented on Mar 15, 2023

   

   Snaw3

   on Mar 15, 2023

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   This fixes the issue:

   // Handle wrap around
   if (ticksLeft > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
       ticksLeft -= util::V_3_MAX_ENCODER_TICKS;
   } else if (ticksLeft < -0.9 * util::V_3_MAX_ENCODER_TICKS) {
       ticksLeft += util::V_3_MAX_ENCODER_TICKS;
   }
   
   if (ticksRight > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
       ticksRight -= util::V_3_MAX_ENCODER_TICKS;
   } else if (ticksRight < -0.9 * util::V_3_MAX_ENCODER_TICKS) {
       ticksRight += util::V_3_MAX_ENCODER_TICKS;
   }