Open cpostbitbuckets opened 2 years ago
The drivetrain should support snapping it's rotation to the nearest hub angle to allow for easier alignment while shooting.
See here for ideas on auto rotating with a ProfiledPIDController: https://github.com/FRC-Sonic-Squirrels/swerve-template/blob/b537a34e31bd3962d4f60ee14d20dc8a343ef4e7/src/main/java/frc/robot/commands/DriveWithSetRotationCommand.java#L36-L41
Each hub is 150 degrees/-150 degrees
The drivetrain should support snapping it's rotation to the nearest hub angle to allow for easier alignment while shooting.
See here for ideas on auto rotating with a ProfiledPIDController: https://github.com/FRC-Sonic-Squirrels/swerve-template/blob/b537a34e31bd3962d4f60ee14d20dc8a343ef4e7/src/main/java/frc/robot/commands/DriveWithSetRotationCommand.java#L36-L41
Each hub is 150 degrees/-150 degrees