search

greenmountainrobotics / 2024-Robot

2024 Robot code for FRC 9101, Green Mountain Robotics
GNU General Public License v3.0
0 stars 1 forks source link

Flip Field Oriented Driving & Paths automatically based on FMS Alliance #14

Closed henrikvtcodes closed 8 months ago

henrikvtcodes commented 8 months ago

IIRC Pathplanner requires paths to be drawn on the blue side in order for them to be mirrored properly. As such, we should default to the robot being on the blue side when not connected to the FMS

recursiveforte commented 8 months ago

This has already been implemented (see public static Pose2d flipPose(Pose2d pose) in Drive.java + various checks of DriverStation.getAlliance().get() == Alliance.Red)