Compensate for swerve coupling ratio in odometry #6
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This is mainly for finding the coupling ratio of our drive. We already have that/it is easy to calculate, since we are using a common module. We need code to compensate for coupling in odometry/driving. |
superpenguin612
approved these changes
Mar 6, 2024
superpenguin612
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Based off of the same method in YAGSL, but with extensive modifications to fit it into houndutil. I kept in most of the print statements even though they probably don't need to be there/should be using hooundlog instead, but I don't know how you want that done so I just left them there just in case.