Test/drive cv alignment #14
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AG6GR
reviewed
Nov 7, 2023
| && Math.abs(rotAmount) < AutoConstants.DEGREES_MARGIN_OF_ERROR) { | ||
| drive(0, 0, 0, false, false); | ||
| } else { | ||
| double xSpeed = xDist / AutoConstants.DRIVE_TO_TAG_TRANSLATIONAL_CONSTANT; |
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I think for swerve you want to control for the overall speed, not the speed of the individual axes. In other words, the magnitude of the velocity vector. Otherwise you'd be sqrt(2) faster if the direction to the target happens to be on a diagonal.
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It shouldn't matter because our x and y components of this speed vector are proportional to how far we need to move to get to our target coordinates, right? Because the drive() function in our swerve method accepts the xSpeed, ySpeed, and angularSpeed as parameters, we can't simply use the magnitude.
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Has a method for driving to a specific (x,y,angle) using encoder-gyro odometry