Team4388/RiseOfRidgebotics2020
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Created 6 Ball Auto with PathWeaver

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Co-Authored-By: Keenan D. Buckley <hfocus@users.noreply.github.com>
Co-Authored-By: kyrarivera <kyrarivera@users.noreply.github.com>
This commit is contained in:
Aarav Shah
2020-03-07 12:41:37 -07:00
parent 3bbd00e0f6
commit 05c0ef4047
12 changed files with 122 additions and 26 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+9 -8
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@@ -105,7 +105,7 @@ public class Drive extends SubsystemBase {
m_leftBackMotor.configFactoryDefault();
m_rightBackMotor.configFactoryDefault();
m_pigeon.configFactoryDefault();
resetGyroYaw();
resetGyroYaw(0);
/* Config Open Loop Ramp so we don't make sudden output changes */
@@ -497,24 +497,25 @@ public class Drive extends SubsystemBase {
*/
public void setOdometry(Pose2d pose) {
resetEncoders();
resetGyroYaw(pose.getRotation().getDegrees());
m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading()));
}
/**
* Resets the yaw of the pigeon
*/
public void resetGyroYaw() {
m_pigeon.setYaw(0);
m_pigeon.setAccumZAngle(0);
resetGyroAngles();
public void resetGyroYaw(double angle) {
m_pigeon.setYaw(angle);
m_pigeon.setAccumZAngle(angle);
resetGyroAngles(angle);
}
/**
* Add docs here
*/
public void resetGyroAngles() {
m_lastAngleYaw = 0;
m_currentAngleYaw = 0;
public void resetGyroAngles(double angle) {
m_lastAngleYaw = angle;
m_currentAngleYaw = angle;
}
/**