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Add comment on chassis speed innacuracy

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nathanrsxtn
2022-03-03 22:08:58 -07:00
parent 28c9394008
commit 14912c5743
1 changed files with 1 additions and 0 deletions
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src/main/java/frc4388/robot/RobotContainer.java
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@@ -314,6 +314,7 @@ public class RobotContainer {
public void recordPeriodic() {
Translation2d position = m_robotSwerveDrive.m_poseEstimator.getEstimatedPosition().getTranslation();
Rotation2d rotation = m_robotSwerveDrive.m_gyro.getRotation2d();
// FIXME: Chassis speeds are created from joystick inputs and do not reflect actual robot velocity.
Translation2d velocity = new Translation2d(m_robotSwerveDrive.chassisSpeeds.vxMetersPerSecond, m_robotSwerveDrive.chassisSpeeds.vyMetersPerSecond);
Waypoint waypoint = new Waypoint(position, position, position, rotation.getDegrees(), false, SwerveDriveConstants.PATH_RECORD_VELOCITY ? velocity.getNorm() : null, false);
pathPoints.add(waypoint);