Closed schineaj23 closed 1 year ago
This PR implements the PPSwerveCommand for following trajectories. Although the individual PID gains still need to be tweaked, this PR fixes breaking problems with the robot's kinematic model and has correct constants for the practice chassis.
Drivable Robot
schineaj23
commented
1 year ago 
This PR implements the PPSwerveCommand for following trajectories. Although the individual PID gains still need to be tweaked, this PR fixes breaking problems with the robot's kinematic model and has correct constants for the practice chassis.