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29 odometry #36
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29 odometry #36
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Just imported the classes necessary to create the autonomous drives
Figure out how to get the IMU's gyro angle.
If there are any problems, follow the instructions in Git to download Pheonix software.
Finally got all the classes I need to use the SwerveDriveOdometry class
Added code to constantly update the PID controller. Still not sure what to do with the output of .calculate().
This is the correct code
Also changed the code because I realised Swerve Drives don't need to turn the robot to go in a new direction
Closed
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Hopefully we can test this next week. |
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@WebCoder49 |
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Outputted angle tested + seems correct |
I will rewrite an odometry for a differntial drive on a different subsystem file. but that will be done later.
turns out other stuff in the code needs it. So this stays for now
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I have written the basic outlines of how the Autonomous Navigation of the robot should look like as well as have gotten the inputs from the Gyro.
Now I just need to find out how to set the power of the motors.