auto stuff

2026-06-09 08:48:07 -06:00 · 2022-02-05 10:08:37 -07:00
parent dd30f1dc6f
commit a7693d1c27
3 changed files with 65 additions and 62 deletions
@@ -208,8 +208,10 @@ public class SwerveDrive extends SubsystemBase {
  }

  /** Updates the field relative position of the robot. */
+
  public void updateOdometry() {
-    m_poseEstimator.update( m_gyro.getRotation2d(), 
+    Rotation2d offset = new Rotation2d(Math.PI/2);
+    m_poseEstimator.update( m_gyro.getRotation2d()/*.plus(offset)*/, 
                            modules[0].getState(), 
                            modules[1].getState(), 
                            modules[2].getState(),