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Hemlock5712 / 2024-Robot

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Investigate new PathPlanner changes #12

Closed CrispyBacon1999 closed 9 months ago

CrispyBacon1999 commented 9 months ago

Pathplanner had some pretty major changes in how things are done, including in the coordinate system. We need to relearn this and make sure we know exactly how it works.

JosephTLockwood commented 9 months ago

I believe that we will need to switch

Alliance alliance = allianceOptional.get();
if (alliance == Alliance.Blue) {
  poseEstimation = results.getBotPose3d_wpiBlue();
} else {
  poseEstimation = results.getBotPose3d_wpiRed();
}

to

poseEstimation = results.getBotPose3d_wpiBlue();

https://www.chiefdelphi.com/t/pathplanner-2024-beta/442364/370?u=joeojazz

JosephTLockwood commented 9 months ago

Will be closed on pull from the template

CrispyBacon1999 commented 9 months ago

Fixed with #29