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took out pid stuff (not part of MVP), drives good

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aarav18
2022-02-24 18:54:58 -07:00
parent 94f757080b
commit 234586b6d5
2 changed files with 65 additions and 18 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+8 -1
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@@ -153,6 +153,7 @@ public class SwerveDrive extends SubsystemBase {
SwerveModuleState state = desiredStates[i];
module.setDesiredState(state, false);
}
// modules[0].setDesiredState(desiredStates[0], false);
}
@Override
@@ -160,7 +161,13 @@ public class SwerveDrive extends SubsystemBase {
updateOdometry();
// SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus));
SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw());
SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw());
// SmartDashboard.putNumber("Front Left", modules[0].driveMotor.getSelectedSensorPosition());
// SmartDashboard.putNumber("Front Right", modules[1].driveMotor.getSelectedSensorPosition());
// SmartDashboard.putNumber("Back Left", modules[2].driveMotor.getSelectedSensorPosition());
// SmartDashboard.putNumber("Back Right", modules[3].driveMotor.getSelectedSensorPosition());
// SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle());
// SmartDashboard.putNumber("Pigeon Rotation 2D", m_gyro.getRotation2d().getDegrees());
// SmartDashboard.putStringArray("Fusion Status", new String[] {"Is Fusing: "+fstatus.bIsFusing, "Is Valid: "+fstatus.bIsValid, "Heading: "+fstatus.heading});