We’ve been attempting to create an odometry system using SDS’s swerve lib, but we appear to be hitting a wall regarding the SwerveModulePosition. Using template code, it appears that we are able to get Drive Velocity and Steer Angle, but nothing that would equate to a position. Is there anything we’re missing, or a way to bypass this.
We reach a secondary issue when it comes to using the Trajectory Config to build our autonomous system. The template code doesn’t provide any acceleration, so we were wondering if there was a way to calculate it using the constants that are provided, or if robot characterization is the way to go about it.