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[copybara] Resync with mostrobotpy (#8662)

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This commit is contained in:
PJ Reiniger
2026-03-09 00:38:21 -04:00
committed by GitHub
parent 71cd434699
commit c0f8159540
40 changed files with 181 additions and 79 deletions
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4
robotpyExamples/SwerveBot/drivetrain.py
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@@ -69,7 +69,9 @@ class Drivetrain:
"""
robot_velocities = wpimath.ChassisVelocities(xVelocity, yVelocity, rot)
if fieldRelative:
robot_velocities = robot_velocities.toRobotRelative(self.imu.getRotation2d())
robot_velocities = robot_velocities.toRobotRelative(
self.imu.getRotation2d()
)
swerveModuleStates = self.kinematics.toSwerveModuleVelocities(
wpimath.ChassisVelocities.discretize(robot_velocities, periodSeconds)