Team4388/2026KPopRobotHunters
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This commit is contained in:
Michael Mikovsky
2026-01-20 19:23:14 -07:00
parent eb0d9de8d8
commit ba16f53d6d
6 changed files with 96 additions and 14 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+16 -7
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@@ -10,6 +10,12 @@ import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import com.pathplanner.lib.util.PathPlannerLogging;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
@@ -19,15 +25,9 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.compute.TimesNegativeOne;
import frc4388.utility.status.Status;
import frc4388.utility.status.FaultReporter;
import frc4388.utility.status.Queryable;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import com.pathplanner.lib.util.PathPlannerLogging;
import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.config.RobotConfig;
import frc4388.utility.status.Status;
public class SwerveDrive extends SubsystemBase implements Queryable {
// private SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDriveTrain;
@@ -138,6 +138,15 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
initalPose2d = pose;
io.resetPose(pose);
}
// MIRA public void setOdoPose(Pose2d pose) {
// if (pose == null) return;
// io.tareEverything();
// initalPose2d = pose;
// io.resetPose(pose);
// robotKnowsWhereItIs = true;
// rotTarget = pose.getRotation().getDegrees();
// }
// public void oneModuleTest(SwerveModule module, Translation2d leftStick,
// Translation2d rightStick){