We’ve been working on a PathWeaver implementation for our robot by adding methods to our drivetrain, but we noticed that the WPILib docs use the
Encoder class from WPILib. Our drivetrain uses the
RelativeEncoder class from REVLib. Because of this, we can’t call any of the methods like
getRate() since these only work with the
Encoder class. Is there any way to use relative encoders with PathWeaver?
(link to docs we were consulting for this: Step 3: Creating a Drive Subsystem — FIRST Robotics Competition documentation (wpilib.org))