This PR refactors the Drivetrain for simplicity and easier control. Note that velocity controlled driving does not currently work, but the rest of these changes are working and should be used going forward.
Changes
Fixes the Drivetrain Shuffleboard tab
Adds odometers to the Shuffleboard
Fixes the encoder implementation
Does NOT finish implementing velocity controlled drive
This PR refactors the Drivetrain for simplicity and easier control. Note that velocity controlled driving does not currently work, but the rest of these changes are working and should be used going forward.
Changes
Resolves
See Also
33 (Update docs)
28 (speedometer and odometer)
14 (Drivetrain velocity control)