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PID Tuning, Controller Adjust

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This commit is contained in:
Aarav Shah
2022-01-14 17:48:53 -07:00
parent 28e970e398
commit 789f4f6a9b
9 changed files with 61 additions and 17 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+1
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@@ -73,6 +73,7 @@ public class SwerveModule extends SubsystemBase {
*/
public void setDesiredState(SwerveModuleState desiredState) {
Rotation2d currentRotation = getAngle();
SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);