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Motors getting stuck at constant speed

Just after starting TeleOp, the motors are stationary like they should be. As soon as any PWM message is received, the motors appear to get stuck at their max speed, regardless of joystick values. If I comment out the <position case here (line 104-109), that fixes it:

xrp-wpilib/src/wpilibws_processor.cpp

Lines 94 to 110 in 00df9d3

    
           void WPILibWSProcessor::handlePWMMessage(JsonDocument& pwmMsg) { 
        
             // Get the channel 
        
             int channel = atoi(pwmMsg["device"].as<const char*>()); 
        
             auto data = pwmMsg["data"]; 
        
             if (data.containsKey("<speed")) { 
        
               // Speed values are [-1.0, 1.0] 
        
               double value = atof(data["<speed"].as<std::string>().c_str()); 
        
               this->_pwmCallback(channel, value); 
        
             } 
        
             else if (data.containsKey("<position")) { 
        
               // Position information is [0.0, 1.0]. We should convert to [-1.0, 1.0] 
        
               double value = atof(data["<speed"].as<std::string>().c_str()); 
        
               value = (2.0 * value) - 1.0; 
        
               this->_pwmCallback(channel, value); 
        
             } 
        
           }

After looking at the JSON packets being received, the <speed and <position messages are received separately. <position seems to always get set second, so I suspect it's overwriting the <speed value immediately.

I'd suggest choosing to use <speed or <position based on what makes more sense for the provided device number (eg. speed for motors and position for servos)

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Motors getting stuck at constant speed

Correctly handle encoder reset

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	void WPILibWSProcessor::handlePWMMessage(JsonDocument& pwmMsg) {
	// Get the channel
	int channel = atoi(pwmMsg["device"].as<const char*>());
	auto data = pwmMsg["data"];

	if (data.containsKey("<speed")) {
	// Speed values are [-1.0, 1.0]
	double value = atof(data["<speed"].as<std::string>().c_str());
	this->_pwmCallback(channel, value);
	}
	else if (data.containsKey("<position")) {
	// Position information is [0.0, 1.0]. We should convert to [-1.0, 1.0]
	double value = atof(data["<speed"].as<std::string>().c_str());
	value = (2.0 * value) - 1.0;
	this->_pwmCallback(channel, value);
	}
	}