derickson2402
commented
2 years ago Reopening for 2022:
Need the following:
- Get the distance driven in meters (either a seperate method for each wheel, or one
getDistancemethod that takes an argument) - Reset the distance driven to 0
- Get the angle of the gyroscope
- Get the gyroscope angle as a Rotation2d
- Reset the gyroscope to 0
- Get the current MecanumDriveWheelSpeeds
- Control the robot with voltage output, tank drive style (basically set a voltage output for the left and right side)
See branch drivetrain/dan for reference on these
There will be two CTRE mag encoders, one on each side of the Drivetrain. They should just need getter methods to read their values, and a way to reset them or calibrate them. Note that all units on subsystem interfaces should be in meters.