I have been trying to modify the wpilib simulation tutorial to get it to work with encoders plugged into the TalonSRX instead of the roboRIO. I am having some trouble, right now the simulation autonomous teleports around and does not follow the path that the original tutorial did. I’m still pretty new to autonomous as well as simulation so please forgive me if its something obvious but I hit the “lets run it again without changing anything and see if it magically works” phase and figured I could use some help.
My guess is that it is a conversion error or a something with the update frequency of the talons not matching the roboRIO.
Code: GitHub - frc6995/NOMAD-Base-2020 at krenDrivebaseSim
See robotContainer, subsystems/drivebaseS, and both constants files ending in ‘sim’
Thanks in advance for the help!