Couple tweaks

Made a couple tweaks before other students use this code as a base to build upon.

RamsetePractice/src/main/java/frc/robot/RobotContainer.java

@@ -12,7 +12,7 @@
 import frc.robot.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RunCommand;
+
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -55,7 +55,6 @@ private void configureButtonBindings() {
      * @return the command to run in autonomous
      */
     public Command getAutonomousCommand() {
-        // Create your RamseteCommand here and have this method return the instance of it.
-        return new InstantCommand();
+        return new InstantCommand(); // Temporary. Replace this.
     }
 }

RamsetePractice/src/main/java/frc/robot/commands/RamseteControllerLogging.java

@@ -6,13 +6,14 @@
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
+import frc.robot.config.Config;
 
 public class RamseteControllerLogging extends RamseteController {
 
     NetworkTableEntry xError, yError, rotError;
 
     public RamseteControllerLogging() {
-        super();
+        super(Config.kRamseteB, Config.kRamseteZeta);
 
         var table = NetworkTableInstance.getDefault().getTable("DrivetrainData");
         xError = table.getEntry("xError");

RamsetePractice/src/main/java/frc/robot/config/Config.java

@@ -49,7 +49,9 @@ public final class Config {
     public static final double RAMSETE_KD = 0;
     public static final double RAMSETE_ALLOWABLE_PID_ERROR = 0;
 
-
+    // Reasonable baseline values for a RAMSETE follower in units of meters and seconds
+    public static final double kRamseteB = 2;
+    public static final double kRamseteZeta = 0.7;
 
     /** Setup for ArcadeDrive */
     public static int LEFT_CONTROL_STICK_Y = 1;

RamsetePractice/src/main/java/frc/robot/subsystems/DriveSubsystem.java

@@ -13,6 +13,7 @@
 import com.ctre.phoenix.sensors.PigeonIMU.FusionStatus;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.config.Config;
 
@@ -108,13 +109,13 @@ public final void arcadeDrive(double forwardVal, double rotateVal, boolean squar
         m_differentialDrive.arcadeDrive(forwardVal, rotateVal, squareInputs);
     }
 
-    private double getCurrentAngle() {
+    private Rotation2d getCurrentAngle() {
         FusionStatus status = new FusionStatus();
         double angle = pigeon.getFusedHeading(status);
 
         ErrorCode error = status.lastError; // ErrorCode to check
 
-        return angle;
+        return Rotation2d.fromDegrees(angle);
     }
 
 
@@ -123,7 +124,7 @@ private double getCurrentAngle() {
      * Used for ramsete. 
      */
     public void tankDriveVelocity(double leftVel, double rightVel) {
-        
+
     }
 
     @Override