/// <summary>
/// Creates a new arm which is driven by an encoder
/// </summary>
/// <param name="input">The motor driving the system</param>
/// <param name="output">The encoder giving feedback to the system</param>
/// <param name="encoderCPR">The CPR of the encoder. If not a 1:1 ratio on the axle, scale this beforehand</param>
/// <param name="model">The transmission model to use</param>
/// <param name="startRadians">The location in radians you want the system to start at.</param>
/// <param name="invertInput">Inverts the motor input</param>
public AngularEncoderMechanism(ISimSpeedController input, SimEncoder output, double encoderCPR, DCMotor model,
double startRadians, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
m_invert = invertInput;
m_scaler = encoderCPR / (Math.PI * 2);
CurrentRadians = 0;
m_offset = startRadians;
AdjustedRadians = m_offset;
m_maxRadians = double.MaxValue;
m_minRadians = double.MinValue;
}
public LinearEncoderMechanism(ISimSpeedController input, SimEncoder output, double encoderCPR, DCMotor model,
double spoolRadius, double startHeight, bool invertInput)//, double topLimit = double.MaxValue / 500)
{
m_input = input;
m_output = output;
m_model = model;
m_invert = invertInput;
RadiansPerMeter = 1 / spoolRadius;
m_scaler = encoderCPR / (Math.PI * 2);
m_offset = startHeight;
CurrentMeters = m_offset;
m_maxRadians = double.MaxValue;
m_minRadians = double.MinValue;
}
