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functional pathplanner... needs autos.

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C4llSiqn
2025-01-17 16:59:32 -07:00
parent 1bd3c12327
commit dd033d0768
3 changed files with 10 additions and 9 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -74,7 +74,7 @@ public class SwerveDrive extends Subsystem {
AutoBuilder.configure(
() -> {
var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d());
pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
// pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
return pose;//getRotation().times(-1)
}, // Robot pose supplier
swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)