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Swerve chassis speeds #20
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added chassisSpeeds support
Fixed minor issues with drive
The-Arx
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Feb 10, 2024
* made drive yaw input come directly from gyro added chassisSpeeds support * added pathplanner * chassisSpeeds part works, cancoder issue * Adapted to new phoenix 6 cancoder methods Fixed minor issues with drive * fixing merge issue * linting
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Description
Adapts the swerve code so that it works with new phoenix 6 frameworks
Updates swerve code to have a more standard rotational coordinate system
Updates swerve code values in general so that it works and makes more sense
Overloads the controlFieldOriented method to accept a chassisSpeeds input
How Has This Been Tested?