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Addressing issue #7 by reading CANCoder values until successful with 10ms delay between readings. Fall back to reading relative encoder.

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thenetworkgrinch
2023-02-20 20:59:31 -06:00
parent 8f9ffdf031
commit dd28a657b2
43 changed files with 570 additions and 363 deletions
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7
swervelib/simulation/SwerveIMUSimulation.java
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@@ -86,8 +86,11 @@ public class SwerveIMUSimulation
* @param modulePoses {@link Pose2d} representing the swerve modules.
* @param field {@link Field2d} to update.
*/
public void updateOdometry(SwerveKinematics2 kinematics, SwerveModuleState2[] states, Pose2d[] modulePoses,
Field2d field)
public void updateOdometry(
SwerveKinematics2 kinematics,
SwerveModuleState2[] states,
Pose2d[] modulePoses,
Field2d field)
{
angle += kinematics.toChassisSpeeds(states).omegaRadiansPerSecond * (timer.get() - lastTime);
lastTime = timer.get();