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ODOMETRY MIGHT WORK (more testing needed tho)

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This commit is contained in:
aarav18
2022-01-22 15:55:04 -07:00
parent 4cc0a2109a
commit 910895ecee
9 changed files with 88 additions and 64 deletions
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src/main/java/frc4388/robot/Robot.java
+10 -2
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@@ -5,6 +5,8 @@
package frc4388.robot;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.RobotTime;
@@ -49,6 +51,9 @@ 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();
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());
}
/**
@@ -63,6 +68,9 @@ 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());
}
/**
@@ -114,8 +122,8 @@ public class Robot extends TimedRobot {
*/
@Override
public void teleopPeriodic() {
m_robotContainer.getDriverController().updateInput();
m_robotContainer.getOperatorController().updateInput();
// m_robotContainer.getDriverController().updateInput();
// m_robotContainer.getOperatorController().updateInput();
}
/**