From e9810e7be684ab69b11e3763709b5a8887d70d0e Mon Sep 17 00:00:00 2001
From: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
Date: Fri, 10 Nov 2023 11:24:22 +0100
Subject: [PATCH] Update WheelEncoders.msg

---
 msg/WheelEncoders.msg | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/msg/WheelEncoders.msg b/msg/WheelEncoders.msg
index 1654902cdf..dfeeeca432 100644
--- a/msg/WheelEncoders.msg
+++ b/msg/WheelEncoders.msg
@@ -1,5 +1,5 @@
 uint64 timestamp			# time since system start (microseconds)
 
-int64 encoder_position   # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
-int32 speed              # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
-uint32 pulses_per_rev    # Number of pulses per revolution for each wheel
+float32[4] wheel_angle #Wheel angle of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
+float32[4] wheel_speed #Wheel speed of encoder, if two wheels wheel_angle[0] = right wheel and wheel_angle[1] = left wheel. Else [0][1] = right and [2][3] are left.
+