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This commit is contained in:
Michael Mikovsky
2025-01-09 19:40:37 -07:00
parent d81c4b381d
commit 76b53c95a7
4 changed files with 31 additions and 7 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+8 -1
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@@ -49,6 +49,7 @@ public class SwerveDrive extends Subsystem {
/** Creates a new SwerveDrive. */
public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain, Vision vision) {
// public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain) {
super();
this.swerveDriveTrain = swerveDriveTrain;
@@ -172,7 +173,13 @@ public class SwerveDrive extends Subsystem {
SmartDashboard.putNumber("Gyro", getGyroAngle());
SmartDashboard.putNumber("RotTartget", rotTarget);
vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(Vision.getTime()));
double time = Vision.getTime();
vision.setLastOdomPose(swerveDriveTrain.samplePoseAt(time));
if(vision.isTag()){
swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time);
}
// if(e.isPresent())
}