This repository was archived by the owner on Feb 16, 2026. It is now read-only.
Add direct heading control on swerve input stream#335
Open
drakeerv wants to merge 2 commits intoYet-Another-Software-Suite:devfrom
Open
Add direct heading control on swerve input stream#335drakeerv wants to merge 2 commits intoYet-Another-Software-Suite:devfrom
drakeerv wants to merge 2 commits intoYet-Another-Software-Suite:devfrom
Conversation
Contributor
|
This should create a new HEADING drive mode. Not use the existing one. |
Author
|
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
suggested changes
Mar 19, 2025
| * @param fieldRelativeRotation Field-relative {@link Rotation2d} to flip. | ||
| * @return Alliance-oriented {@link Rotation2d} | ||
| */ | ||
| private Rotation2d applyAllianceAwareRotation(Rotation2d fieldRelativeRotation) |
Contributor
There was a problem hiding this comment.
This function was removed.
| } else if (headingEnabled.isPresent() && headingEnabled.get().getAsBoolean()) | ||
| { | ||
| if (controllerHeadingX.isPresent() && controllerHeadingY.isPresent()) | ||
| if (headingSupplier.isPresent() || (controllerHeadingX.isPresent() && controllerHeadingY.isPresent())) |
Contributor
There was a problem hiding this comment.
heading supplier should not be used here.
| * @param fieldRelativeRotation Field-relative {@link Rotation2d} to offset | ||
| * @return Offsetted {@link Rotation2d} | ||
| */ | ||
| private Rotation2d applyHeadingOffset(Rotation2d fieldRelativeRotation) |
Contributor
There was a problem hiding this comment.
Duplicate function
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to subscribe to this conversation on GitHub.
Already have an account?
Sign in.
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.