I have noticed that if the swerve modules are not pointed in the direction that the robot moves before following the trajectory, it doesn’t follow the path very well. I was wondering how to set the module angles to point in the direction of movement before starting the path to prevent this issue. I have a method in my drivetrain class that can set the module angles, but I am not sure how to get the initial angle that the modules are pointed in from the trajectory object. I am using PathPlanner, with has a method called getInitialState(), however I am not sure of how to extract the angle from this. Any help would be appreciated. Thank you
Normally, our team doesn’t care about setting the modules to point a specific direction, as soon as your swerve drivetrain is given an impulse it should snap to the correct azimuthal angle.
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