[wombat] pass can name into cancoder. (#42)

CurtinFRC · Jan 1, 2024 · 4f5f49d · 4f5f49d
1 parent c1358ff
commit 4f5f49d
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/wombat/src/main/cpp/utils/Encoder.cpp b/wombat/src/main/cpp/utils/Encoder.cpp
@@ -134,9 +134,9 @@ double wom::utils::DutyCycleEncoder::GetEncoderTickVelocity() const {
 }
 
 wom::utils::CanEncoder::CanEncoder(int deviceNumber, double ticksPerRotation,
-                                   double reduction)
+                                   double reduction, std::string name)
     : wom::utils::Encoder(ticksPerRotation, reduction, 1) {
-  _canEncoder = new CANCoder(deviceNumber, "Drivebase");
+  _canEncoder = new CANCoder(deviceNumber, name);
 }
 
 double wom::utils::CanEncoder::GetEncoderRawTicks() const {

diff --git a/wombat/src/main/include/utils/Encoder.h b/wombat/src/main/include/utils/Encoder.h
@@ -11,6 +11,10 @@
 #include <units/angle.h>
 #include <units/angular_velocity.h>
 
+#include <string>
+
+#include "utils/Util.h"
+
 namespace wom {
 namespace utils {
 class Encoder {
@@ -109,7 +113,7 @@ class DutyCycleEncoder : public Encoder {
 class CanEncoder : public Encoder {
  public:
   CanEncoder(int deviceNumber, double ticksPerRotation = 4095,
-             double reduction = 1);
+             double reduction = 1, std::string name = "Drivebase");
 
   double GetEncoderRawTicks() const override;
   double GetEncoderTickVelocity() const override;