Fix/intake #24
Fix/intake #24
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make swerve not chatter
Updated swerve controls to use field oriented with directed angle.
OakvilleDynamicsProgrammer
requested a review
from garrettsummerfi3ld
as a code owner
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@OakvilleDynamicsProgrammer (@ShaneHopkins11, @Kendialouge, @EuphoniumPlayer, etc.)
These changes are okay, however some questions need to be answered. I'll approve once I get feedback on what was changed as this wasn't too documented in each commit.
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Are the PIDs and deadbands correct? The deadband now becomes hyper sensitive and the derivative heading is now zero.
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Why is the ramp rate zero? Is it viable to have the angle motors always run full speed instead of not ramping up to full speed?
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Why was the IMU inverted? Doesn't the navX configuration require the navX to be inverted regardless?
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None of these changes except for changing the default command actually do anything. Are you sure this was intentional?
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