What is the intended way of using closed-loop position wrapping (i.e. ClosedLoopConfig.positionWrappingEnabled) on a Spark using a relative encoder? I see that it wraps to [0, 1) rotations after the removal of positionWrappingInputRange, but as far as I can tell there's no way to configure the mechanism reduction after the removal of positionConversionFactor. Am I missing a config option somewhere? This was a useful feature when using a Spark as a turn controller for swerve.
It's possible to work around this by manually wrapping the setpoints in the robot program, but that's obviously not ideal.
What is the intended way of using closed-loop position wrapping (i.e.
ClosedLoopConfig.positionWrappingEnabled) on a Spark using a relative encoder? I see that it wraps to [0, 1) rotations after the removal ofpositionWrappingInputRange, but as far as I can tell there's no way to configure the mechanism reduction after the removal ofpositionConversionFactor. Am I missing a config option somewhere? This was a useful feature when using a Spark as a turn controller for swerve.It's possible to work around this by manually wrapping the setpoints in the robot program, but that's obviously not ideal.