Teleop doesn't have correct field oriented rotation after PathPlanner auto started at nonzero rotation

Technical Programming
1

We are using PathPlanner for autos, and we have an auto working that starts in the center flat against the subwoofer, and transitioning to teleop the field oriented drive has the correct orientation.

We want to have some autos that start angled against the sides of the subwoofer, so we tried an auto path that started against the angle and drove away straight, but on the teleop transition it’s like our odometry or gyro didn’t know that we started at an angle and it acted like we started flat against the wall. (note: we didn’t commit that auto, but it had a -60 degree rotation and heading at start and end and followed a straight path, also tested with one that ended with a 0 degree rotation, so I know it wasn’t dependent on the end state)

2

I went down this rabbit hole last week. TLDR is that I think the best thing for the drive team is to power the robot on against the wall facing the alliance wall (blue or red).

Then set the gyro offset angle in autoInit to make sure the angle is proper and that 0 degrees is to the right (Always blue field reference)

Full mental walk through in this thread.

3

I found this post from that thread that sounds like something we briefly poked at but didn’t get to testing yet (we ran into this issue yesterday).