Yagsl 1360 Implementation - Githubissues

FRC1360 / ChargedUp2023

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Yagsl 1360 Implementation #49

Open BrightLaw9 opened 1 year ago

BrightLaw9 commented 1 year ago

Please review.

I decided to simply bring in the folder of swervelib for freedom of potential modifications in the future.

Created DIOAbsoluteEncoderSwerve.
Angle offset of modules is handled in SwerveModuleConfiguration instead of in the absolute encoder calculation
Radians -> Degrees
Configure robot swerve module characteristics
Cleaned up and modified existing DriveTrainSubsystem code and related
Drive and steer ramp rates still unknown, wasn't able to find, perhaps can measure using SysID and previous code?