comp changes before first practice match

Team334 · Apr 5, 2024 · 3994677 · 3994677
1 parent 08e8426
commit 3994677
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -183,7 +183,7 @@ private void configureBindings() {
     }, _ledSubsystem));
 
     // TESTING ONLY!!!
-    _driveController.triangle().onTrue(Commands.runOnce(() -> _swerveSubsystem.resetGyro(180), _swerveSubsystem));
+    // _driveController.triangle().onTrue(Commands.runOnce(() -> _swerveSubsystem.resetGyro(180), _swerveSubsystem));
 
     // _driveController.triangle().onTrue(Commands.run(() -> {
     //   SmartDashboard.putNumber("KV", SmartDashboard.getNumber("DRIVE VOLTAGE", 0) / _swerveSubsystem.getRobotRelativeSpeeds().vxMetersPerSecond);
@@ -197,12 +197,12 @@ private void configureBindings() {
 
 
     // TESTING ONLY!!!
-    _driveController.circle().onTrue(Commands.runOnce(() -> {
+    _driveController.povUp().onTrue(Commands.runOnce(() -> {
       Optional<PoseEstimate> pose = _visionSubsystem.getBotposeBlue();
 
       if (pose.isPresent()) {
         Pose2d botpose = pose.get().pose;
-        _swerveSubsystem.resetPose(new Pose2d(botpose.getX(), botpose.getY(), _swerveSubsystem.getHeading()));
+        _swerveSubsystem.resetPose(botpose);
       }
     }, _swerveSubsystem));