YAGAL How to use locking pose?

Rashest · January 22, 2024, 7:42am

It may be such an obvious question, but I have observed that while the direction and joystick inputs are 0, the modules point as if they are going to turn the robot. Doing a little research I found the lockPose function.

github.com

BroncBotz3481/YAGSL-Example/blob/main/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java#L430-L436


      
          /**
           * Lock the swerve drive to prevent it from moving.
           */
          public void lock()
          {
            swerveDrive.lockPose();
          }

Reading what lock() does when pointing the modules towards the center of the robot is extremely curious and we want to try it.

I could deduce that when the robot does not receive information from the joystick in teleop, it automatically executes lock() but that is just an assumption since when it does not receive information from the joystick it does perform an action which is to point the modules for a rotation of the robot.

Rowanbladex · January 22, 2024, 12:41pm

That’s a pseudo lock position. I’m new to the Library as well, so still learning, but the default option locks you in place from being pushed, while still allowing you to rotate.