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triangle path and some pid work

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aarav18
2022-02-05 15:19:00 -07:00
parent d49ee663fb
commit e9859e90c6
9 changed files with 17 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3
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@@ -11,6 +11,8 @@ import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import javax.swing.plaf.nimbus.State;
import com.pathplanner.lib.PathPlanner;
import com.pathplanner.lib.PathPlannerTrajectory;
import com.pathplanner.lib.commands.PPSwerveControllerCommand;
@@ -123,6 +125,7 @@ public class RobotContainer {
PIDController yController = SwerveDriveConstants.Y_CONTROLLER;
ProfiledPIDController thetaController = SwerveDriveConstants.THETA_CONTROLLER;
thetaController.enableContinuousInput(-Math.PI, Math.PI);
//thetaController.reset(new TrapezoidProfile.State(m_robotSwerveDrive.getOdometry()));
PPSwerveControllerCommand ppSCC = new PPSwerveControllerCommand(
traj,