Closed Aidan-Hamilton closed 2 years ago
Our Gyroscope due to not being in the center of the bot causes a drift when passed to ChassisSpeeds.fromFieldRelativeSpeeds we need to figure out how to account for this.
ChassisSpeeds.fromFieldRelativeSpeeds
One possibility is to pass custom field of rotation to this https://github.com/frc4610/Rapid-React/blob/5c0d63013d479769e15a023737122a3eac4d5e70/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java#L267
However our rotation might be off. We need to test this to see as it might correct itself.
Fixed with moved gyro
Aidan-Hamilton
commented
2 years ago
Our Gyroscope due to not being in the center of the bot causes a drift when passed to
ChassisSpeeds.fromFieldRelativeSpeedswe need to figure out how to account for this.One possibility is to pass custom field of rotation to this https://github.com/frc4610/Rapid-React/blob/5c0d63013d479769e15a023737122a3eac4d5e70/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java#L267
However our rotation might be off. We need to test this to see as it might correct itself.