danielbrownmsm
commented
1 year ago Also note we fixed the cosine error limit thing (although I'm not really sure how well it works) and temporarily disabled inverting the wheels whenever error >100 degrees for testing, need to add that back in
Makes the teleop swerve drive code be field-oriented for a better driving experience. First driver has tested it and says it is a definite improvement. I've tested it and it works, although we haven't taken any hits yet. Could use some tuning