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Adds Pathweaver export test

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nathanrsxtn
2022-01-25 11:30:08 -07:00
parent d1a4a50f87
commit c4acef61ea
6 changed files with 1029 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
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@@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.RobotMap;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.Gains;
import frc4388.utility.RobotLogger;
public class SwerveDrive extends SubsystemBase {
// private WPI_TalonFX m_leftFrontSteerMotor;
@@ -142,6 +143,7 @@ public class SwerveDrive extends SubsystemBase {
updateOdometry();
// m_gyro.setFusedHeadingToCompass();
// m_gyro.setYawToCompass();
RobotLogger.getInstance().put("poseMeters", m_poseEstimator.getEstimatedPosition());
super.periodic();
}