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…fom reciever in drive
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Odometry FOM as well as vision FOM to influence estimated poses, all implemented in Drive.java.
boolean isColliding() and isSkidding() methods in Drive.java, where it is colliding if it's acceleration is more than twice the max accel, and is skidding if the fastest wheel's speed is more than the slowest wheel's speed by a certain skidding threshold (set to five m/s for the time being).
If the robot is colliding, the max acceleration will be increased so the driver can maneuver out of that situation correctly.
Two new classes--BetterPoseEstimator and BetterSwerveDrivePoseEstimator--are introduced to implement the FOM changes to our pose calculation. It still uses a Kalman filter on top of the FOM.
Vision FOM is given to the drive by periodically getting it in Robot.java and then giving it to drive through a method.