Fix FlippingUtil behavior with kMirrored robot-relative forces and kRotational field rotation
#883
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In mirrored, the robot should face towards the same Y of the field (180 - rotation), but in rotational the heading should just be rotated 180 degrees (rotation - 180), facing the opposite Y of the field.
The Y components of the robot relative forces also need to be inverted when flipping according to kMirrored, as left and right are flipped.
mjansen4857
reviewed
Oct 23, 2024
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kMirroredmode, as left and right are flipped.kRotationalmode, the field rotation needs to be rotated by 180 degrees, not subtracted from 180 degrees. For example, a 90 degree rotation should become -90 after rotating, but stay 90 degrees after mirroring.I wasn't sure what the best way to implement 1 is API-wise, so for now I implemented two new functions
flipFeedforwardXsandflipFeedforwardYsto handle the two components. Feel free to rename the functions or try to merge them into the existingflipFeedforwardsfunction