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Ability to move while aiming at the target #45

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varun7654 opened this issue Apr 11, 2021 · 0 comments

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2021 robot enhancement help wanted

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varun7654 commented Apr 11, 2021

Make a new method in the drive class that will take the movement from the controller and then adds a rotation to aim the robot.

You will need to construct a ChassisSpeed (use field relative one) object that will be passed to the swerveDrive method.
Your method should use a PID controller to aim the robot. The output should be put into the omegaRadiansPerSecond value in the ChassisSpeeds method. (Look at the updateTurn method to figure out how to use PID)
The controller inputs should be passed for the vx and vy values.

varun7654 added 2021 robot enhancement help wanted labels

varun7654 assigned 25burruskahlen

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