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Fixes the resetOdometry method #142

Merged
merged 2 commits into from
Jan 22, 2024
Merged

Fixes the resetOdometry method #142

merged 2 commits into from
Jan 22, 2024

Commits on Jan 21, 2024

  1. When the odometry is reset, the call to reset the pose estimator shou… 

    …ld pass in the gyro angle.

Without this fix, it is impossible to start the robot in autonomous with a non-zero pose angle.
    @MarshallTappen
    MarshallTappen committed Jan 21, 2024
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Commits on Jan 22, 2024

  1. Modifies getHeading() in SwerveSubsystem to use the odometry. 

    Before, this method returned the raw gyro reading.  This could result in getHeading and getPose returning different values.
    @MarshallTappen
    MarshallTappen committed Jan 22, 2024
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