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This is helpful, sometimes |
Cosine compensation scales the speed of your wheel by the cosine of the angle delta of the swerve module.
{% hint style="warning" %} Cosine compensation does not work in simulation and is inteded for use on the robot ONLY! Please test it thoroughly before deciding to use it in competition. {% endhint %}
Cosine compensation is easy to enable! All it takes is the funciton SwerveDrive.setCosineCompensator!
/**
* Initialize {@link SwerveDrive} with the directory provided.
*
* @param directory Directory of swerve drive config files.
*/
public SwerveSubsystem(File directory)
{
// Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created.
SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH;
swerveDrive = new SwerveParser(directory).createSwerveDrive(Constants.MAX_SPEED);
swerveDrive.setCosineCompensator(false); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life.
}