Swerve #8
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Swerve #8
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JakeStew81
requested changes
Jan 30, 2025
| private SwerveModuleState frontRight; | ||
| private SwerveModuleState backLeft; | ||
| private SwerveModuleState backRight; | ||
| private final Pigeon2 gyro; |
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Where are the modules? You seem to have a sim setup going on here, just need to convert it over to using the modules to interface with real properly. You can still get the sim working using the modules, you'll just need to make a SwerveDrivePoseEstimator object and pass in the data from your modules, which should be handling sim v.s. real on their own. You've got a solid framework here, just need to connect the parts. I'm happy to help you with this tomorrow if you'd like
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