Adds MecanumControllerCommand to Commands2. #35
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virtuald
reviewed
Dec 7, 2023
| ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0) | ||
| ) | ||
| self.timer.restart() | ||
| self.prevTime = 0 |
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It isn't reset in Java but I guess I just sort of did that because that's how I teach the students to write commands when I teach them.
Not really a bug per se in Java, but I think it should probably be reset to 0 in initialize in Java. I removed it here for parity.
auscompgeek
requested changes
Jan 15, 2024
Comment on lines
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| feedforward | ||
| or frontLeftController | ||
| or rearLeftController | ||
| or frontRightController | ||
| or rearRightController | ||
| or currentWheelSpeedsSupplier is None | ||
| ): | ||
| raise RuntimeError( |
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If any of
- feedforward
- frontLeftController
- rearLeftController
- frontRightController
- rearRightController
are provided (i.e. not None), won't we always get here? This doesn't seem right.
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#28