So i updated the enum to have the correct trap positions and rotations, I also made it to where the rotation lock for the speaker ACTUALLY uses the yaw 💀 And made more methods in swerve for each align position. Need to add buttons to call each and ones for the traps to call navigate and switch align pos. Also added logic in DefaultTeleop that switches what the rotation value is based on which align position it is.
So i updated the enum to have the correct trap positions and rotations, I also made it to where the rotation lock for the speaker ACTUALLY uses the yaw 💀 And made more methods in swerve for each align position. Need to add buttons to call each and ones for the traps to call navigate and switch align pos. Also added logic in DefaultTeleop that switches what the rotation value is based on which align position it is.