fixed and added swerve methods - #79
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escapee-86 wants to merge 2 commits into
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good to go! |
everything finally works i think i lost a few braincells today
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good to go? (needs testing on robot but fully works in sim) |
Bankst
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Apr 1, 2026
| public Command roboToPose(Pose2d desPose, double tolerance) { | ||
| return Commands.defer(() -> { | ||
| Pose2d initPose = getState().Pose; | ||
| return Commands.runOnce(() -> { |
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this is absolutely not going to work. the previous code using Commands.run() is correct. With runOnce, you only calculate once so you never update the controllers after the robot moves
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