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Publish rotation from Pigeon to NetworkTables #3

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Merged
spderman3333 merged 1 commit into from
Sep 1, 2025
Merged

Publish rotation from Pigeon to NetworkTables #3

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6 changes: 5 additions & 1 deletion src/main/java/com/team2813/subsystems/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -106,6 +106,7 @@ public class Drive extends SubsystemBase implements AutoCloseable {
private final DoubleArrayPublisher modulePositionsPublisher;
private final DoublePublisher ambiguityPublisher =
NetworkTableInstance.getDefault().getDoubleTopic("Ambiguity").publish();
private final StructPublisher<Rotation3d> anglePublisher;

/** This measurement is <em>IN INCHES</em> */
private static final double WHEEL_RADIUS_IN = 1.537;
Expand Down Expand Up @@ -330,6 +331,7 @@ public Drive(
networkTable.getStructArrayTopic("actual state", SwerveModuleState.struct).publish();
currentPosePublisher = networkTable.getStructTopic("current pose", Pose2d.struct).publish();
modulePositionsPublisher = networkTable.getDoubleArrayTopic("module positions").publish();
anglePublisher = networkTable.getStructTopic("pigeon angle", Rotation3d.struct).publish();

setDefaultCommand(createDefaultCommand());

Expand Down Expand Up @@ -534,9 +536,11 @@ public void periodic() {
// Publish data to NetworkTables
expectedStatePublisher.set(drivetrain.getState().ModuleTargets);
actualStatePublisher.set(drivetrain.getState().ModuleStates);
Rotation3d rotation = getRotation3d();
if (config.usePnpDistanceTrigSolveStrategy) {
photonPoseEstimator.addHeadingData(Timer.getTimestamp(), getRotation3d());
photonPoseEstimator.addHeadingData(Timer.getTimestamp(), rotation);
}
anglePublisher.set(rotation);
photonPoseEstimator.update(this::handlePhotonPose);
Pose2d drivePose = getPose();
currentPosePublisher.set(drivePose);
Expand Down