WIP: added a new command and method for odometry

src/main/java/frc/robot/Constants.java

@@ -100,7 +100,6 @@ public static final class IntakeConstants {
     public static final int kArmMotorID = 39;
     public static final int kArmEncoderChannel = 0;
 
-    // In degrees
     // In degrees
     public static final double kIntakeLoweredAngle = 0;
     public static final double kIntakeRaisedAngle = 194;

src/main/java/frc/robot/commands/SetLED.java

@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.LEDSubsystem;
+import frc.robot.subsystems.VisionSubsystem;
+import frc.robot.subsystems.VisionSubsystem.Measurement;
+
+public class SetLED extends Command {
+  private LEDSubsystem m_LedSubsystem;
+  private DriveSubsystem m_driveSubsystem = new DriveSubsystem();
+  private Pose2d m_odometry = m_driveSubsystem.getOdometry();
+
+  /** Creates a new SetLED. */
+  public SetLED(LEDSubsystem LED) {
+    m_LedSubsystem = LED;
+    addRequirements(m_LedSubsystem);
+
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+    if ()
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/DriveSubsystem.java

@@ -194,6 +194,9 @@ public void resetOdometry(Pose2d pose) {
         },
         pose);
   }
+  public Pose2d getOdometry(){
+    return m_poseEstimator.getEstimatedPosition();
+  }
 
   /** Zeroes the heading of the robot. */
   public void zeroHeading() {