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odo chooser stuff

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This commit is contained in:
aarav18
2022-03-20 17:28:10 -06:00
parent 520d748afe
commit 7f1061ab9a
4 changed files with 8 additions and 16 deletions
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src/main/java/frc4388/robot/Robot.java
+3 -9
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@@ -170,9 +170,7 @@ public class Robot extends TimedRobot {
// SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY());
// SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees());
// odo chooser stuff
addOdoChoices(new Pose2d(1, 1, new Rotation2d(Math.PI/6)),
new Pose2d(1, 2, new Rotation2d(Math.PI/3)),
new Pose2d(1, 3, new Rotation2d(Math.PI/4)));
addOdoChoices(new Pose2d(3.2766, -0.9398, new Rotation2d(0)));
updateOdoChooser();
SmartDashboard.putData("Odometry Chooser", odoChooser);
}
@@ -185,7 +183,7 @@ public class Robot extends TimedRobot {
public void addOdoChoices(Pose2d... points) {
for (Pose2d point : points) {
String key = "(" + point.getX() + ", " + point.getY() + ", " + point.getRotation().getDegrees() + "°)";
String key = "(" + point.getX() + ", " + point.getY() + ", " + point.getRotation().getDegrees() + ")";
odoChoices.put(key, point);
}
}
@@ -253,17 +251,13 @@ public class Robot extends TimedRobot {
public void teleopInit() {
LOGGER.fine("teleopInit()");
Robot.alliance = DriverStation.getAlliance();
// m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw());
selectedOdo = odoChooser.getSelected();
if (selectedOdo == null) {
selectedOdo = m_robotContainer.getOdometry();
}
// m_robotContainer.resetOdometry(selectedOdo);
m_robotContainer.resetOdometry(selectedOdo);
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to