Swerve Drive Auto Help

Grosssam002 · February 19, 2024, 11:39pm

I have never coded autonomous before and I am struggling to get our swerve drive coded for auto. I have a start, but I don’t know the next steps, can anyone help?
It is under the AutonomousSwerveDriveCommand file.
Thank you

github.com

Grosssam002/Team-2654-2024-Code/blob/main/src/main/java/frc/robot/commands/AutonomousSwerveDriveCommand.java

package frc.robot.commands;

import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;

import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.DrivetrainSubsystem;
import frc.robot.subsystems.Pigeon;
import edu.wpi.first.math.MathUtil;
import java.lang.Math;



public class AutonomousSwerveDriveCommand extends Command {
    protected final DrivetrainSubsystem drivetrain;
    private final DoubleSupplier xSupplier;
    private final DoubleSupplier ySupplier;

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system · February 18, 2025, 11:39pm

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