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5 turn a given angle autonomously#25
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09lkei wants to merge 23 commits into
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Some values need updating: Motor channels Encoder channels DistancePerPulse
Make build.gradle errorless
Add swerve drive subsystems
It is bound to button 1 on the Joystick
Includes code so that the robot can update its PID. Also allows the robot to offset the encoders such that they will be field oriented (assuming that the robot starts facing the field)
…trolled-swerve-drive
I changed it such that the encoder will actually tell you the distance moved since the last time it was called, not the total distance moved as this would be problematic if you were using two different commands during that time. I have also used two different constants, distancePerRotation meaning the circumference of the motor. movementPerRotation meaning the actual distance travelled by the robot when the move motors rotate once.
7 driver controlled swerve drive
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