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add || true to swervedrive seeding logic

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C4llSiqn
2025-03-10 13:52:40 -06:00
parent 0458654281
commit da976c13b9
2 changed files with 2 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -341,7 +341,7 @@ public class SwerveDrive extends Subsystem {
vision.setLastOdomPose(curpose); vision.setLastOdomPose(curpose);
setLastOdomSpeed(curpose, lastPose, freq); setLastOdomSpeed(curpose, lastPose, freq);
if (vision.isTag()) { if (vision.isTag() || true) {
Pose2d pose = vision.getPose2d(); Pose2d pose = vision.getPose2d();
if (!robotKnowsWhereItIs) { if (!robotKnowsWhereItIs) {
robotKnowsWhereItIs = true; robotKnowsWhereItIs = true;
src/main/java/frc4388/robot/subsystems/Vision.java
+1 -1
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@@ -191,7 +191,7 @@ public class Vision extends Subsystem {
// lastVisionPose = new Pose2d(X/cams, Y/cams, Rotation2d.fromDegrees(curAngle + rotations*360)); // lastVisionPose = new Pose2d(X/cams, Y/cams, Rotation2d.fromDegrees(curAngle + rotations*360));
lastVisionPose = new Pose2d(0, 0, Rotation2d.fromDegrees(curAngle + rotations*360)); lastVisionPose = new Pose2d(10, 5, Rotation2d.fromDegrees(curAngle + rotations*360));
SmartDashboard.putNumber("curAngle", lastVisionPose.getRotation().getRadians()); SmartDashboard.putNumber("curAngle", lastVisionPose.getRotation().getRadians());
SmartDashboard.putNumber("Rotations", rotations); SmartDashboard.putNumber("Rotations", rotations);