From 7d30d77b10702339196077a22c5f33b7b2356249 Mon Sep 17 00:00:00 2001
From: 00magikarp <94652654+00magikarp@users.noreply.github.com>
Date: Fri, 5 Jul 2024 11:34:30 -0400
Subject: [PATCH] move log target pose to DrivePathCommand

---
 .../buildOutputCleanup/buildOutputCleanup.lock    | Bin 17 -> 17 bytes
 .gradle/file-system.probe                         | Bin 8 -> 8 bytes
 .../commands/drivetrain/DrivePathCommand.kt       |   2 ++
 .../robot2023/subsystems/drivetrain/Drivetrain.kt |   4 +---
 4 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
index 59102564ba84637716e7626c15fa0a53ae009195..d8221d4ce5f3f9235b38958faebfa90c10d8f043 100644
GIT binary patch
literal 17
VcmZQxdM5G6RR7nK3}C=y1OPg41hxPG

literal 17
VcmZQxdM5G6RR7nK3}C>d1^_x_1gZc4

diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
index 59237959b3c0007f0f6206069aca1ae389a8c556..6aebbde344084876865b9c522372365fa9af14be 100644
GIT binary patch
literal 8
PcmZQzV4TogIhO+f2bTgf

literal 8
PcmZQzV4P6DX&N&C2p<Am

diff --git a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt
index f4c0c6ef..e3208ff7 100644
--- a/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt
+++ b/src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt
@@ -338,6 +338,8 @@ private constructor(
     drivetrain.targetPose =
       Pose2d(Pose2dWPILIB(desiredState.poseMeters.translation, desiredRotation.position))
 
+    CustomLogger.recordOutput("Odometry/targetPose", drivetrain.targetPose.pose2d)
+
     Logger.recordOutput(
       "Pathfollow/target",
       Pose2dWPILIB.struct,
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt
index 64ef4bd4..73abe573 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/drivetrain/Drivetrain.kt
@@ -254,7 +254,6 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModul
     CustomLogger.recordOutput("Drivetrain/ModuleStates", *measuredStates.toTypedArray())
     CustomLogger.recordOutput("Drivetrain/SetpointStates", *setPointStates.toTypedArray())
 
-    CustomLogger.recordOutput("Odometry/pose", odomTRobot.pose2d)
     CustomLogger.recordOutput(
       "Odometry/pose3d",
       Pose3d(
@@ -268,8 +267,6 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModul
 
     CustomLogger.recordOutput("FieldFrameEstimator/odomTField", odomTField.transform2d)
 
-    CustomLogger.recordOutput("Odometry/targetPose", targetPose.pose2d)
-
     // Log the current state
     CustomLogger.recordOutput("Drivetrain/currentState", currentState.toString())
     // Log the current state
@@ -558,6 +555,7 @@ class Drivetrain(private val gyroIO: GyroIO, val swerveModules: List<SwerveModul
     fieldFrameEstimator.addVisionData(visionData)
   }
 
+  
   fun addSpeakerVisionData(visionData: TimestampedTrigVisionUpdate) {
     fieldFrameEstimator.addSpeakerVisionData(visionData)
   }