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[robotpy] Fixup errors missed in #8479 (#8660)

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Looks like a race condition happened in the landing of the examples PR
and #8479 which caused some of the python examples to fail.
This commit is contained in:
PJ Reiniger
2026-03-07 00:21:43 -05:00
committed by GitHub
parent b29bde123f
commit ccfb3ab1cd
18 changed files with 55 additions and 55 deletions
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10
robotpyExamples/SwerveBot/drivetrain.py
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@@ -71,16 +71,16 @@ class Drivetrain:
if fieldRelative:
robot_velocities = robot_velocities.toRobotRelative(self.imu.getRotation2d())
swerveModuleStates = self.kinematics.toSwerveModuleStates(
swerveModuleStates = self.kinematics.toSwerveModuleVelocities(
wpimath.ChassisVelocities.discretize(robot_velocities, periodSeconds)
)
wpimath.SwerveDrive4Kinematics.desaturateWheelVelocities(
swerveModuleStates, kMaxVelocity
)
self.frontLeft.setDesiredState(swerveModuleStates[0])
self.frontRight.setDesiredState(swerveModuleStates[1])
self.backLeft.setDesiredState(swerveModuleStates[2])
self.backRight.setDesiredState(swerveModuleStates[3])
self.frontLeft.setDesiredVelocity(swerveModuleStates[0])
self.frontRight.setDesiredVelocity(swerveModuleStates[1])
self.backLeft.setDesiredVelocity(swerveModuleStates[2])
self.backRight.setDesiredVelocity(swerveModuleStates[3])
def updateOdometry(self) -> None:
"""Updates the field relative position of the robot."""