FairportRobotics
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Castor2026
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Merge branch 'main' of github.com:FairportRobotics/Castor2026

This commit is contained in:
Team578 Driver Station 2026-04-11 13:36:46 -04:00
parent 75cb1bb439 88153923d5
commit b8fe02c124
1 changed files with 4 additions and 0 deletions
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4
src/main/java/frc/robot/subsystems/DriveSubsystem.java
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@ -15,6 +15,7 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.config.PIDConstants; import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig; import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPHolonomicDriveController; import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import com.pathplanner.lib.util.PathPlannerLogging;
import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose2d;
@ -180,6 +181,9 @@ public class DriveSubsystem extends TestableSubsystem {
autoChooser.setDefaultOption("Do Nothing", Commands.none()); autoChooser.setDefaultOption("Do Nothing", Commands.none());
SmartDashboard.putData("Auto Chooser", autoChooser); SmartDashboard.putData("Auto Chooser", autoChooser);
// PathPlannerLogging.setLogActivePathCallback((List<Pose2d> pose) -> {});
PathPlannerLogging.setLogTargetPoseCallback((Pose2d targetPose) -> { Logger.recordOutput("PathPlanner-TargetPose", targetPose);});
} catch (Exception e) { } catch (Exception e) {
e.printStackTrace(); e.printStackTrace();
} }