2-2-26 MegaTag1 Auto

Anay Saran, William Hoang

Goals

  • To make sure MegaTag1 works properly in TeleOp and Auto.

Notes

  • We noticed that when the robot rotates, its position moves, even though it is not supposed to.

  • Robot Pose isn’t updating on Elastic in auto.

  • In Robot.java, there is a function called autonomousInit, there are two methods to reset heading, they are swerveDrive.resetRotation and swerveDrive.zeroFieldOrientation

  • We are going to be testing which one we actually need and which one is interfering with our auto.

  • and we tried autos but they still went the opposite direction

Results

  • we fixed megatag1 by changing the position of the limelight in the dashboard

  • then scheduled a command on teleop init to reset pose with apriltags

Continuation

  • hoping to fix that issue or change the forward direction for the robot somehow