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fix: Clear FPGA Cart X/Y/Theta accumulators in clearEncoders #2

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h-brenne wants to merge 1 commit into from
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fix: Clear FPGA Cart X/Y/Theta accumulators in clearEncoders #2

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7 changes: 6 additions & 1 deletion VitesseAPI.py
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Original file line number Diff line number Diff line change
Expand Up @@ -680,7 +680,12 @@ def clearEncoders(self):
# backward compatible with older firmware
if (self.version < 1000):
return self


# numClearCountersOn is capped at 5 per call.
# Clear Cart X/Y/Theta accumulator.
self.clearCounterEnable([0, 0, 0, 0, 0, 0, 0, 0])
self.clearCounterEnable([0, 0, 0, 0, 1, 1, 1, 0])
# Clear encoder 1 and 2.
self.clearCounterEnable([0, 0, 0, 0, 0, 0, 0, 0])
self.clearCounterEnable([1, 0, 0, 0, 0, 0, 0, 0])
return self
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