Update auto pathing to work #21
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This reverts commit 68d9da6.
ArchdukeTim
reviewed
Mar 21, 2024
| SwerveModuleState[] moduleStates = kinematics.toSwerveModuleStates(speeds); | ||
| ChassisSpeeds newSpeeds = speeds; | ||
| if (robotContainer.getAuto()) { | ||
| newSpeeds = speeds.minus(new ChassisSpeeds(speeds.vxMetersPerSecond*2, 0, 0)); |
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What's the point of this? This will drive it in reverse? (vx - 2*vx = -vx)
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Yes this was my janky solution to reverse auto on only one axis 😅 And thanks for the command I wasnt sure how to do that
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