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Moved telemetry to correctly report module angles

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This commit is contained in:
thenetworkgrinch
2023-03-21 22:36:46 -05:00
parent e8e2edaf5a
commit e2cb296051
1 changed files with 10 additions and 9 deletions
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19
swervelib/SwerveModule.java
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@@ -156,15 +156,6 @@ public class SwerveModule
desiredState =
new SwerveModuleState2(
simpleState.speedMetersPerSecond, simpleState.angle, desiredState.omegaRadPerSecond);
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
{
SmartDashboard.putNumber(
"Optimized " + moduleNumber + " Speed Setpoint: ", desiredState.speedMetersPerSecond);
SmartDashboard.putNumber(
"Optimized " + moduleNumber + " Angle Setpoint: ", desiredState.angle.getDegrees());
SmartDashboard.putNumber(
"Module " + moduleNumber + " Omega: ", Math.toDegrees(desiredState.omegaRadPerSecond));
}
if (isOpenLoop)
{
@@ -195,6 +186,16 @@ public class SwerveModule
angle += 360;
}
if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
{
SmartDashboard.putNumber(
"Optimized " + moduleNumber + " Speed Setpoint: ", desiredState.speedMetersPerSecond);
SmartDashboard.putNumber(
"Optimized " + moduleNumber + " Angle Setpoint: ", angle);
SmartDashboard.putNumber(
"Module " + moduleNumber + " Omega: ", Math.toDegrees(desiredState.omegaRadPerSecond));
}
// Prevent module rotation if angle is the same as the previous angle.
if (angle != lastAngle || synchronizeEncoderQueued)
{