Change default azimuth offset

Author: jhh

swerve/src/main/java/org/strykeforce/thirdcoast/swerve/SwerveDrive.java

@@ -20,6 +20,7 @@
 @SuppressWarnings("unused")
 public class SwerveDrive {
 
+  public final static int DEFAULT_ABSOLUTE_AZIMUTH_OFFSET = 200;
   private static final Logger logger = LoggerFactory.getLogger(SwerveDrive.class);
   private static final int WHEEL_COUNT = 4;
   final AHRS gyro;
@@ -201,7 +202,7 @@ public void zeroAzimuthEncoders() {
   void zeroAzimuthEncoders(Preferences prefs) {
     Errors.setCount(0);
     for (int i = 0; i < WHEEL_COUNT; i++) {
-      int position = prefs.getInt(getPreferenceKeyForWheel(i), 0);
+      int position = prefs.getInt(getPreferenceKeyForWheel(i), DEFAULT_ABSOLUTE_AZIMUTH_OFFSET);
       wheels[i].setAzimuthZero(position);
       logger.info("azimuth {}: loaded zero = {}", i, position);
     }

swerve/src/test/java/org/strykeforce/thirdcoast/swerve/SwerveDriveTest.java

@@ -82,7 +82,7 @@ void zeroAzimuthEncoders(@Mock Preferences prefs) {
     SwerveDrive swerve = new SwerveDrive(config);
     for (int i = 0; i < 4; i++) {
       String key = SwerveDrive.getPreferenceKeyForWheel(i);
-      doReturn(i).when(prefs).getInt(key, 0);
+      doReturn(i).when(prefs).getInt(key, SwerveDrive.DEFAULT_ABSOLUTE_AZIMUTH_OFFSET);
     }
     swerve.zeroAzimuthEncoders(prefs);