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Maybe fix swerve odemetry

This commit is contained in:
Tyler Wilcox 2026-03-23 21:58:45 -04:00
parent ad53b44e2f
commit 8eb0a76b26
1 changed files with 2 additions and 1 deletions
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lib/src/main/java/org/fairportrobotics/frc/robolib/drivesystems/swerve/SwerveDriveSystem.java
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@ -84,7 +84,8 @@ public class SwerveDriveSystem implements Subsystem{
moduleStates[i].optimize(modules[i].getSteerRotations()); moduleStates[i].optimize(modules[i].getSteerRotations());
} }
poseEstimator.updateWithTime(Utils.getCurrentTimeSeconds(), new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions()); poseEstimator.update(new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions());
// poseEstimator.updateWithTime(Utils.getCurrentTimeSeconds(), new Rotation3d(Rotation2d.fromRotations(getCurrentYaw().magnitude())), getModulePositions());
for(int i=0;i<modules.length;i++){ for(int i=0;i<modules.length;i++){
modules[i].setRequestedModuleState(moduleStates[i]); modules[i].setRequestedModuleState(moduleStates[i]);