Open alevin opened 1 year ago
I suspect that initial pose and odometry problem could be related to "resetOdom: true" in PPSwerveFollower calls ( TestAutoCommands.java lines 56, 65)
probably in entire PPSwerveFollower class which can be replaced. You can look at current implementation of pathplanner auto in https://github.com/Hemlock5712/2023-Robot/blob/Eos-Joe/src/main/java/frc/robot/RobotContainer.java and in "alex_hana" branch of our code.
I suspect that initial pose and odometry problem could be related to "resetOdom: true" in PPSwerveFollower calls ( TestAutoCommands.java lines 56, 65)
probably in entire PPSwerveFollower class which can be replaced. You can look at current implementation of pathplanner auto in https://github.com/Hemlock5712/2023-Robot/blob/Eos-Joe/src/main/java/frc/robot/RobotContainer.java and in "alex_hana" branch of our code.