Rotate for limelight #24
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brettle
requested changes
Mar 25, 2023
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| axisTrigger(driverController, Driver.angleLeftButton).onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(MathUtil.inputModulus(drivetrain.getHeadingDeg() - turnFaceLimelightDeg, -180, 180)), drivetrain)); | ||
| axisTrigger(driverController, Driver.angleRightButton).onTrue(new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(MathUtil.inputModulus(drivetrain.getHeadingDeg() + turnFaceLimelightDeg, -180, 180)), drivetrain)); | ||
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- These rotate relative to the current heading, but shouldn't they rotate to absolute field relative angles like the the d-pad buttons?
- Is the
inputModuluscall needed? Seems like that should already be happening either in the subsystem or in the command.
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Added buttons to rotate the robot 35 degrees so that limelight odometry is more accurate (in more technical details: to avoid "tag flipping"). Drivers would need to press those buttons to face the robot at a curved angle at an apriltag for accurate odometry. Necessary for commands using
DriveToPoint.