Add direct heading control on swerve input stream #335
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This should create a new HEADING drive mode. Not use the existing one. |
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I will do it. However, if they are both heading control so why separate them into two sections if they do the same thing? |
thenetworkgrinch
requested changes
Mar 19, 2025
| * @param fieldRelativeRotation Field-relative {@link Rotation2d} to flip. | ||
| * @return Alliance-oriented {@link Rotation2d} | ||
| */ | ||
| private Rotation2d applyAllianceAwareRotation(Rotation2d fieldRelativeRotation) |
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This function was removed.
| } else if (headingEnabled.isPresent() && headingEnabled.get().getAsBoolean()) | ||
| { | ||
| if (controllerHeadingX.isPresent() && controllerHeadingY.isPresent()) | ||
| if (headingSupplier.isPresent() || (controllerHeadingX.isPresent() && controllerHeadingY.isPresent())) |
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heading supplier should not be used here.
| * @param fieldRelativeRotation Field-relative {@link Rotation2d} to offset | ||
| * @return Offsetted {@link Rotation2d} | ||
| */ | ||
| private Rotation2d applyHeadingOffset(Rotation2d fieldRelativeRotation) |
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Duplicate function
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