PLS5618/Reefscape-2025
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changement limelight

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This commit is contained in:
Antoine PerreaultE
2025-02-18 18:47:13 -05:00
parent 7cf7483498
commit 6ccef6bad9
4 changed files with 19 additions and 36 deletions
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11
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@ -3,19 +3,15 @@ package frc.robot.subsystems;
import static edu.wpi.first.units.Units.*;
import java.util.function.Supplier;
import com.ctre.phoenix6.SignalLogger;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.numbers.N1;
@ -140,8 +136,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
} catch (Exception ex) {
DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
}
}
PPHolonomicDriveController.overrideRotationFeedback(()->{
return 0;
});
}
/* The SysId routine to test */
private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;