[wpimath] SwerveDrivePoseEstimator: Fix stationary module emitting error when calculating angle in ToSwerveModuleStates #7175
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calcmogul
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Oct 10, 2024
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
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wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
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calcmogul
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Oct 10, 2024
spacey-sooty
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…ror when calculating angle in ToSwerveModuleStates (wpilibsuite#7175)
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Introduced in #6767,
ToSwerveModuleStateswill emit an error when calculating a module's angle if its velocity is 0. This PR adds a preemptive check for a non-zero velocity, otherwise substituting the module's last heading.