Team4388/2023WayOfTheRobot
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Merge branch 'master' into autonomous

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This commit is contained in:
Aarav Shah
2023-02-17 19:53:58 -07:00
committed by GitHub
parent 1de91d8eb2 3dc311d225
commit db2a9dc7f8
8 changed files with 1165 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+14 -5
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@@ -205,6 +205,12 @@ public class SwerveDrive extends SubsystemBase {
public void resetPoseEstimator() {
setPoseEstimator(new Pose2d());
}
public void stopModules() {
for (SwerveModule module : this.modules) {
module.stop();
}
}
/**
* Resets the odometry of the SwerveDrive to 0.
@@ -221,14 +227,17 @@ public class SwerveDrive extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
// updateOdometry();
updatePoseEstimator();
// SmartDashboard.putNumber("Odo X", getOdometry().getX());
// SmartDashboard.putNumber("Odo Y", getOdometry().getY());
// SmartDashboard.putNumber("Odo Theta", getOdometry().getRotation().getDegrees());
// SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
SmartDashboard.putNumber("Odo X (ft)", Units.metersToFeet(this.getOdometry().getX()));
SmartDashboard.putNumber("Odo Y (ft)", Units.metersToFeet(this.getOdometry().getY()));
SmartDashboard.putNumber("Odo Theta", this.getOdometry().getRotation().getDegrees());
SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
SmartDashboard.putNumber("rotTarget", this.rotTarget.getDegrees());
}
/**