Encoder testing - #29
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nlaverdure
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Port the turn-zero timing fix from main (#29, with the encoderInitialized name from 039554e). The Module constructor read inputs.turnZero before io.updateInputs() had ever run. inputs.turnZero defaults to Rotation2d.ZERO, and only ModuleIOTalonFXBase.readSignalInputs fills it from the CANcoder magnet offset. So on a robot with no stored preference, Preferences.initDouble was seeded with 0 instead of the CANcoder value. This also kept a Preferences read at the earliest boot point. Apply the turn zero once, in the first periodic() after inputs are updated and logged. ModuleTest uses a fake IO that reports a CANcoder zero only from updateInputs(). It checks that the constructor applies no turn zero, that the first periodic() applies and stores the CANcoder value, and that later periodic() calls do not apply it again. It fails without this change. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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We moved the align encoders at start from the constructor to the periodic function. A flag was added for the moved code to run only when the flag was false and then makes the flag true so the code ins't run multiple times.