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smartdash pigeon tests (temporary)

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aarav18
2022-01-27 18:58:22 -07:00
parent 1e7cbc3515
commit 575fcc1155
1 changed files with 13 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+13
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@@ -17,6 +17,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.RobotMap;
import frc4388.robot.Constants.SwerveDriveConstants;
@@ -140,6 +141,18 @@ public class SwerveDrive extends SubsystemBase {
public void periodic() {
//System.err.println(m_gyro.getFusedHeading() +" aaa");
updateOdometry();
SmartDashboard.putNumber("Pigeon Absolute Compass Heading", m_gyro.getAbsoluteCompassHeading());
SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading());
SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw());
SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle());
SmartDashboard.putNumber("Pigeon Compass Heading", m_gyro.getCompassHeading());
// m_gyro.getAbsoluteCompassHeading();
// m_gyro.getYaw();
// m_gyro.getRotation2d();
// m_gyro.getAngle();
// m_gyro.getCompassHeading();
// m_gyro.getFusedHeading();
// m_gyro.setFusedHeadingToCompass();
// m_gyro.setYawToCompass();
super.periodic();