added the angle of the robot (from odometer) to the RobotState class

2491-NoMythic · Dec 3, 2024 · 24f2736 · 24f2736
1 parent 7d03887
commit 24f2736
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diff --git a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java
@@ -220,6 +220,10 @@ public double getHeadingLooped() {
 	public Rotation2d getGyroscopeRotation() {
 		return pigeon.getRotation2d();
 	}
+	/**
+	 * 
+	 * @return a rotation2D of the angle according to the odometer
+	 */
 	public Rotation2d getOdometryRotation() {
 		return odometer.getEstimatedPosition().getRotation();
 	}
@@ -572,6 +576,7 @@ public void periodic() {
 
 		m_field.setRobotPose(odometer.getEstimatedPosition());
         SmartDashboard.putNumber("Robot Angle", getOdometryRotation().getDegrees());
+		RobotState.getInstance().odometerOrientation = getOdometryRotation().getDegrees();
         SmartDashboard.putString("Robot Location", getPose().getTranslation().toString());
 		SmartDashboard.putNumber("calculated speaker angle", calculateSpeakerAngleMoving());
 		SmartDashboard.putNumber("TESTING robot angle difference", getSpeakerAngleDifference());

diff --git a/src/main/java/frc/robot/subsystems/RobotState.java b/src/main/java/frc/robot/subsystems/RobotState.java
@@ -9,6 +9,7 @@ public class RobotState {
 	public boolean LimelightsUpdated;
 	public boolean lightsReset;
 	public double intakeSensorVoltage;
+	public double odometerOrientation;
 
 	private RobotState() {