Quasics2021Code/MaeTester/src/main/cpp/subsystems/Drivebase.cpp
// This method will be called once per scheduler run
This method will be called once per scheduler run
This method will be called once per scheduler run
void Drivebase::Periodic() {
  auto rotation = GetZAxisGyro().GetRotation2d();
  auto leftDistance = GetLeftEncoderDistance();
  auto rightDistance = GetRightEncoderDistance();
  frc::SmartDashboard::PutNumber("L Encoders ", leftDistance.to<double>());
  frc::SmartDashboard::PutNumber("R Encoders", rightDistance.to<double>());
  frc::SmartDashboard::PutNumber("Rotation", rotation.Degrees().to<double>());
  m_odometry.Update(rotation, leftDistance, rightDistance);
}
void Drivebase :: Periodic ( ) { auto rotation = GetZAxisGyro ( ) . GetRotation2d ( ) ; auto leftDistance = GetLeftEncoderDistance ( ) ; auto rightDistance = GetRightEncoderDistance ( ) ; frc :: SmartDashboard :: PutNumber ( " " , leftDistance . to < double > ( ) ) ; frc :: SmartDashboard :: PutNumber ( " " , rightDistance . to < double > ( ) ) ; frc :: SmartDashboard :: PutNumber ( " " , rotation . Degrees ( ) . to < double > ( ) ) ; m_odometry . Update ( rotation , leftDistance , rightDistance ) ; }
This method will be called once per scheduler run
This method will be called once per scheduler run
//   EXECUTE_EVERY_N_TIMES(100, auto speeds = GetWheelSpeeds(); //                         std::cout << "Speeds: " << speeds.left << " / " //                                   << speeds.right << std::endl;)