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java docs and yaw print

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This commit is contained in:
aarav18
2022-02-17 19:52:05 -07:00
parent 749085a0b6
commit 32ae624588
5 changed files with 38 additions and 28 deletions
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src/main/java/frc4388/robot/Robot.java
+3 -5
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@@ -66,6 +66,8 @@ public class Robot extends TimedRobot {
// and running subsystem periodic() methods. This must be called from the robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
// print odometry data to smart dashboard for debugging (if causing timeout errors, you can comment it)
SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX());
SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY());
SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees());
@@ -84,9 +86,6 @@ public class Robot extends TimedRobot {
@Override
public void disabledPeriodic() {
// SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX());
// SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY());
// SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees());
}
/**
@@ -114,6 +113,7 @@ public class Robot extends TimedRobot {
@Override
public void teleopInit() {
LOGGER.fine("teleopInit()");
m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw());
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
@@ -130,8 +130,6 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
// m_robotContainer.getDriverController().updateInput();
// m_robotContainer.getOperatorController().updateInput();
}
/**