Drive to Pose

[npmanos]

Overview

Follow trajectory to drive robot to a specific position as defined by a Pose2d.

Tasks

• Joystick Drive #2
• Characterize drivetrain (SysID)
• Add characterized constants to code
• Add driveVolts() method to drive subsystem
• Create trajectory config
• Implement RamseteCommand

Suggested Implementation

Follow tutorials in Helpful Links below

Helpful Links

Characterization tutorial
Trajectory tutorial

Notes

Only additions to the drive subsystem required should be the driveVolts method. Everything else should already be provided by MecanumDriveSubsystem once #2 is complete.