Initial Swerve Implementation and Refactor Wombat #6
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spacey-sooty
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enhancement
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spacey-sooty
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Nov 6, 2023
| _state = state; | ||
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| void wom::drivetrain::Swerve::PoseControl(frc::Pose3d desiredPose, units::second_t dt) { |
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This is probably too imprecise to call pose control.
Would this be field relative?
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yeah should be field relative, probably set the whole robot pid loops tho, not each individual module
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How would we implement a whole robot loop?
spacey-sooty
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Nov 11, 2023
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spacey-sooty
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Nov 30, 2023
spacey-sooty
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Nov 30, 2023
- adds github action for wpiformat checkign - adds wpiformat required config - Isaac
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What this PR does
Implement Swerve and Wombat Refactoring
What does it fix/add?
Create an initial implementation of swerve control
Resolve #3
Resolve #8