fix: Disable heading motion profile.

Author: haydenheroux

Diff for: src/main/java/frc/robot/odometry/Odometry.java

@@ -151,6 +151,8 @@ public Rotation2d getFieldRelativeHeading() {
    *     alliance.
    */
   public Rotation2d getDriverRelativeHeading() {
+    gyroscope.update(gyroscopeValues);
+
     return Rotation2d.fromRotations(gyroscopeValues.yawRotations);
   }
 

Diff for: src/main/java/frc/robot/swerve/DriveCommand.java

@@ -73,22 +73,22 @@ public void execute() {
 
     Rotation2d driverRelativeHeading = odometry.getDriverRelativeHeading();
 
-    if (DriveRequest.startedDrifting(previousRequest, request)) {
-      resetHeadingGoal();
-    }
+    // if (DriveRequest.startedDrifting(previousRequest, request)) {
+    //   resetHeadingGoal();
+    // }
 
-    if (request.isSnapping()) {
-      setPositionHeadingGoal(headingSnapper.snap(request.driverHeading()));
-    }
+    // if (request.isSnapping()) {
+    //   setPositionHeadingGoal(headingSnapper.snap(request.driverHeading()));
+    // }
 
-    Rotation2d omega;
+    Rotation2d omega = new Rotation2d();
 
     if (request.isSpinning()) {
       updateVelocity(request.omega());
 
       omega = request.omega();
     } else {
-      omega = calculateHeadingProfileOmega();
+      // omega = calculateHeadingProfileOmega();
     }
 
     ChassisSpeeds chassisSpeeds =