retrieve swerve module position data for odometry

Iron-Panthers · Nov 27, 2024 · 591d76b · 591d76b
1 parent 4bbdf87
commit 591d76b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/robot/RobotState.java b/src/main/java/frc/robot/RobotState.java
@@ -47,7 +47,7 @@ public static RobotState getInstance() {
 
   private RobotState() {}
 
-  /* update pose estimation based on odometry measurements */
+  /* update pose estimation based on odometry measurements, based on wpimath */
   public void addOdometryMeasurement(OdometryMeasurement measurement) {
     Twist2d twist =
         DriveConstants.KINEMATICS.toTwist2d(lastWheelPositions, measurement.wheelPositions());