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Fixes the resetOdometry method #142

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merged 2 commits into from
Jan 22, 2024
Merged

Fixes the resetOdometry method #142

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63dcbb5
When the odometry is reset, the call to reset the pose estimator shou…
MarshallTappen Jan 21, 2024
e5dafa7
Modifies getHeading() in SwerveSubsystem to use the odometry.
MarshallTappen Jan 22, 2024
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6 changes: 4 additions & 2 deletions src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -336,13 +336,15 @@ public void setMotorBrake(boolean brake)
}

/**
* Gets the current yaw angle of the robot, as reported by the imu. CCW positive, not wrapped.
* Gets the current yaw angle of the robot, as reported by the swerve pose estimator in the underlying
* drivebase. Note, this is not the raw gyro reading, this may be corrected from calls to
* resetOdometry().
*
* @return The yaw angle
*/
public Rotation2d getHeading()
{
return swerveDrive.getYaw();
return getPose().getRotation();
}

/**
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2 changes: 1 addition & 1 deletion src/main/java/swervelib/SwerveDrive.java
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Expand Up @@ -646,7 +646,7 @@ public ChassisSpeeds getRobotVelocity()
public void resetOdometry(Pose2d pose)
{
odometryLock.lock();
swerveDrivePoseEstimator.resetPosition(pose.getRotation(), getModulePositions(), pose);
swerveDrivePoseEstimator.resetPosition(getYaw(), getModulePositions(), pose);
odometryLock.unlock();
kinematics.toSwerveModuleStates(ChassisSpeeds.fromFieldRelativeSpeeds(0, 0, 0, pose.getRotation()));
}
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