When zero the position, at any point, and turn in one direction, the rotation count looks good and increments correctly and decrements correctly if I go back. If I turn the other way, from wherever it was when I zeroed the position with setPosition, it jumps to 274. Has anyone else encountered this?
After a bit more poking, it appears that the RelativeEncoder class from the SparkMax can’t track negative positions. Fortunately, for our application, I can pad it up.