resolve issues about #160

Patribots4738 · Oct 31, 2023 · b8daf4d · b8daf4d
1 parent e67f82d
commit b8daf4d
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/util/DriverUI.java b/src/main/java/frc/robot/util/DriverUI.java
@@ -16,7 +16,7 @@ public class DriverUI implements Loggable {
     @Log(name="Select Auto:", rowIndex = 0, columnIndex = 4, height = 1, width = 2)
     public static SendableChooser<AutoPose> autoChooser = new SendableChooser<>();
 
-    @Log(name="Field", rowIndex = 0, columnIndex = 0, height = 6, width = 6)
+    @Log(name="Field", rowIndex = 0, columnIndex = 0, height = 4, width = 10)
     public static Field2d field = new Field2d();
 
     @BooleanBox(name = "Fresh Code", rowIndex = 0, columnIndex = 10, height = 1, width = 1, colorWhenTrue = "lime")

diff --git a/src/main/java/hardware/Swerve.java b/src/main/java/hardware/Swerve.java
@@ -18,6 +18,7 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.util.WPIUtilJNI;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import calc.ADIS16470_IMU;
 import calc.Pose3dLogger;
 import frc.robot.util.DriverUI;
@@ -124,6 +125,10 @@ public void periodic() {
   public void logPositions() {
     SwerveLogBuilder logs = new SwerveLogBuilder();
     DriverUI.field.setRobotPose(getPose());
+
+    logs.addRealModuleStates(new double[]{ 0, 0, 0, 0, 0, 0, 0, 0 });
+    logs.addRobotRotation(getPose().getRotation().getDegrees());
+
     logs.addRobotRotation(getYaw().getRadians());
     logs.addDesiredModuleStates(desiredModuleStates);
     logs.addRealModuleStates(new double[] {