Fixing heading control on drive

team8 / FRC-2020-Public

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Fixing heading control on drive #47

Closed qhdwight closed 4 years ago

qhdwight commented 4 years ago

Commands.driveWantedOdometryPose needs to be not null for one cycle inside of DriveHeadingController update system.
Robot needs to take care of resetting senors, leaving the not null to be picked up by subsystems, and then clearing it back to null afterwards

qhdwight commented 4 years ago

I discovered that the spark takes time to actually set it's value after setPosition. So, the set odometry routine has to account for this and actually be a timeout routine with delay of like 0.2. Suspect, I know, but we gotta do what we gotta do