Team2890/Mothman
4
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Changed code for robot

Browse Source
This commit is contained in:
Mehooliu
2026-03-02 16:25:15 -05:00
parent 69279812f3
commit 1b84701184
10 changed files with 407 additions and 271 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
View File

@@ -32,6 +32,7 @@ import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
import frc.robot.Constants;
import frc.robot.subsystems.TargetingSubsystems;
import frc.robot.subsystems.swervedrive.Vision.Cameras;
import java.io.File;
import java.io.IOException;
@@ -146,7 +147,7 @@ public class SwerveSubsystem extends SubsystemBase {
// When vision is enabled we must manually update odometry in SwerveDrive
if (visionDriveTest) {
swerveDrive.updateOdometry();
//vision.updatePoseEstimation(swerveDrive);
vision.updatePoseEstimation(swerveDrive);
}
}
@@ -188,9 +189,9 @@ public class SwerveSubsystem extends SubsystemBase {
new PPHolonomicDriveController(
// PPHolonomicController is the built in path following controller for holonomic
// drive trains
new PIDConstants(5.0, 0.0, 0.0),
new PIDConstants(3.6, 0.0, 0.0),
// Translation PID constants
new PIDConstants(3.8, 0.0, 0.0)
new PIDConstants(3.675, 0.0, 0.00)
// Rotation PID constants
),
config,