Rename get speeds so it's clear they're robot relative speeds

CrossTheRoadElec · Oct 26, 2023 · c75d7f9 · c75d7f9
1 parent 8f7cdfc
commit c75d7f9
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/CommandSwerveDrivetrain.java
@@ -38,7 +38,7 @@ private void configurePathPlanner() {
         AutoBuilder.configureHolonomic(
             ()->this.getState().Pose, // Supplier of current robot pose
             this::seedFieldRelative,  // Consumer for seeding pose against auto
-            this::getCurrentSpeeds,
+            this::getCurrentRobotChassisSpeeds,
             (speeds)->this.setControl(autoRequest.withSpeeds(speeds)), // Consumer of ChassisSpeeds to drive the robot
             new HolonomicPathFollowerConfig(new PIDConstants(10, 0, 0),
                                             new PIDConstants(10, 0, 0),
@@ -79,7 +79,7 @@ public void seedFieldRelative(Pose2d location) {
         }
     }
 
-    public ChassisSpeeds getCurrentSpeeds() {
+    public ChassisSpeeds getCurrentRobotChassisSpeeds() {
         return m_kinematics.toChassisSpeeds(getState().ModuleStates);
     }
 }