sotm is better ig

Co-Authored-By: WesleyWong-972 <171457173+Wesley28w@users.noreply.github.com>
Co-Authored-By: Timofei <108955303+iefomit@users.noreply.github.com>

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 5beae9118c47aa54f49151e871c59a1748fde1c6..884958c86844d333038b6e3f504caae0c96b82af 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -195,11 +195,11 @@ public class Superstructure extends Command {
         ChassisSpeeds robotRelVel = drivetrain.getChassisSpeeds();
 
         // Add a phase delay extrapolation component for latency delay
-        drivepose = drivepose.exp(
-            new Twist2d(
-                robotRelVel.vxMetersPerSecond * phaseDelay.get(),
-                robotRelVel.vyMetersPerSecond * phaseDelay.get(),
-                robotRelVel.omegaRadiansPerSecond * phaseDelay.get()));
+        // drivepose = drivepose.exp(
+        //     new Twist2d(
+        //         robotRelVel.vxMetersPerSecond * phaseDelay.get(),
+        //         robotRelVel.vyMetersPerSecond * phaseDelay.get(),
+        //         robotRelVel.omegaRadiansPerSecond * phaseDelay.get()));
     }
 
     /**