Holonomic mode is on, but state.GetPoseMeters's rotation uses the heading instead of the rotation we specified #240
SteptimusHeap
started this conversation in
General
Replies: 1 comment
-
This is working as expected. The rotation in the pose needs to be the heading in order to work correctly with path following commands. This is why holonomic rotation is a separate field. |
Beta Was this translation helpful? Give feedback.
0 replies
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
-
I'm pushing the state's pose's rotation to smartdashboard, and instead of matching the rotation of the actual robot, is matches the heading of the robot, even though I have holonomic mode on in pathplanner
Her's my code: https://github.com/Bedford-Express-1023/2023Project-0.1/tree/Drivetrain
Here's my path: https://imgur.com/a/Lh55lp7
Beta Was this translation helpful? Give feedback.
All reactions