Added auto-centering feature.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jul 29, 2024 · 08f4c9a · 08f4c9a
1 parent e973ae5
commit 08f4c9a
Showing 1 changed file with 15 additions and 0 deletions.
diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
@@ -1159,6 +1159,21 @@ public void restoreInternalOffset()
     }
   }
 
+  /**
+   * Enable auto-centering module wheels. This has a side effect of causing some jitter to the robot when a PID is not
+   * tuned perfectly. This function is a wrapper for {@link SwerveModule#setAntiJitter(boolean)} to perform
+   * auto-centering.
+   *
+   * @param enabled Enable auto-centering (disable antiJitter)
+   */
+  public void setAutoCenteringModules(boolean enabled)
+  {
+    for (SwerveModule module : swerveModules)
+    {
+      module.setAntiJitter(!enabled);
+    }
+  }
+
   /**
    * Enable or disable the {@link swervelib.parser.SwerveModuleConfiguration#useCosineCompensator} for all
    * {@link SwerveModule}'s in the swerve drive. The cosine compensator will slow down or speed up modules that are