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Snap to nearest Hub button #154

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cpostbitbuckets opened this issue Mar 17, 2022 · 0 comments

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cpostbitbuckets commented Mar 17, 2022 •

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The drivetrain should support snapping it's rotation to the nearest hub angle to allow for easier alignment while shooting.

See here for ideas on auto rotating with a ProfiledPIDController: https://github.com/FRC-Sonic-Squirrels/swerve-template/blob/b537a34e31bd3962d4f60ee14d20dc8a343ef4e7/src/main/java/frc/robot/commands/DriveWithSetRotationCommand.java#L36-L41

Each hub is 150 degrees/-150 degrees

cpostbitbuckets assigned cpostbitbuckets and unassigned cpostbitbuckets

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