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Odometry Working haha

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This commit is contained in:
Aarav Shah
2020-03-06 18:46:45 -07:00
parent b3558887cc
commit 3c0b92a4ac
6 changed files with 57 additions and 31 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+3 -3
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@@ -442,8 +442,8 @@ public class Drive extends SubsystemBase {
// m_currentAngleYaw-(360),
// m_currentAngleYaw+(360));
//double targetGyro = (m_kinematicsTargetAngle / 360) * DriveConstants.TICKS_PER_GYRO_REV;
double moveVelLeft = inchesToTicks(metersToInches(leftSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
double moveVelRight = inchesToTicks(metersToInches(rightSpeed))/DriveConstants.SECONDS_TO_TICK_TIME;
double moveVelLeft = inchesToTicks(leftSpeed)/DriveConstants.SECONDS_TO_TICK_TIME;
double moveVelRight = inchesToTicks(rightSpeed)/DriveConstants.SECONDS_TO_TICK_TIME;
//SmartDashboard.putNumber("Move Vel Left", moveVelLeft);
//SmartDashboard.putNumber("Move Vel Right", moveVelRight);
@@ -783,7 +783,7 @@ public class Drive extends SubsystemBase {
//SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
//SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
//SmartDashboard.putString("Odometry Values Meters", getPose().toString());
SmartDashboard.putString("Odometry Values Meters", getPose().toString());
//SmartDashboard.putNumber("Odometry Heading", getHeading());
//SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);