Update SwerveSetpointGenerator to handle NaN Voltages #930
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Adds an option to generate a SwerveSetpoint with a specified battery voltage instead of depending on RobotController.getInputVoltage(). Additionally, by default checks if RobotController.getInputVoltage() is returning NaN and if it is, uses 12 as a sub in voltage.
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This is inteded to solve: #930 |
mjansen4857
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Updated this to add the changes to the python version, move some things around, and add overloads for the java units library |
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Luis-Leyva
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Dec 20, 2024
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Adds an option to generate a SwerveSetpoint with a specified battery voltage instead of depending on RobotController.getInputVoltage().
Additionally, by default checks if RobotController.getInputVoltage() is returning NaN and if it is, uses 12.0 as a sub in voltage.