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small changes shtuf

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This commit is contained in:
aarav18
2022-03-16 14:32:41 -06:00
parent 7ae7591951
commit 38459ba40c
5 changed files with 20 additions and 22 deletions
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src/main/java/frc4388/robot/Robot.java
-15
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@@ -162,15 +162,6 @@ public class Robot extends TimedRobot {
// robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
// VelocityCorrection vc = new VelocityCorrection(m_robotContainer.m_robotSwerveDrive, m_robotContainer.m_robotBoomBoom);
// System.out.println("Position: " + vc.position);
// System.out.println("Velocity: " + vc.cartesianVelocity);
// System.out.println("Target: " + vc.target.toString());
//SmartDashboard.putNumber("Turret Encoder Position", m_robotContainer.m_robotTurret.m_boomBoomRotateEncoder.getPosition());
//SmartDashboard.putNumber("Hood Encoder Position", m_robotContainer.m_robotHood.m_angleEncoder.getPosition());
// odo chooser stuff
addOdoChoices(new Pose2d(1, 1, new Rotation2d(Math.PI/6)),
@@ -178,12 +169,6 @@ public class Robot extends TimedRobot {
new Pose2d(1, 3, new Rotation2d(Math.PI/4)));
updateOdoChooser();
SmartDashboard.putData("Odometry Chooser", odoChooser);
// 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());
}
public void updateOdoChooser() {