Team4388/2023WayOfTheRobot
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printed odometry to smartdashboard

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aarav18
2023-02-06 19:47:14 -07:00
parent 6b4c591b3b
commit 6ab2bea3c8
2 changed files with 4 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
-2
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@@ -55,8 +55,6 @@ public class RobotContainer {
, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand")); , m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED)); // m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
} }
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+4 -3
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@@ -86,6 +86,7 @@ public class SwerveDrive extends SubsystemBase {
// Convert field-relative speeds to robot-relative speeds. // Convert field-relative speeds to robot-relative speeds.
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1)); chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
} else {
// Create robot-relative speeds. // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED); chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
} }
@@ -172,9 +173,9 @@ public class SwerveDrive extends SubsystemBase {
// This method will be called once per scheduler run // This method will be called once per scheduler run
updateOdometry(); updateOdometry();
// SmartDashboard.putNumberArray("Odometry", new double[] {getOdometry().getX(), getOdometry().getY(), getOdometry().getRotation().getDegrees()}); SmartDashboard.putNumber("Odo X (ft)", Units.metersToFeet(this.getOdometry().getX()));
SmartDashboard.putNumber("Odo Y (ft)", Units.metersToFeet(this.getOdometry().getY()));
SmartDashboard.putNumber("Gyro Angle", getGyroAngle()); SmartDashboard.putNumber("Odo Theta", this.getOdometry().getRotation().getDegrees());
} }
/** /**