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End of State Code
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1024Programming committed May 5, 2023
1 parent 67bba9c commit 06c4081
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1 change: 1 addition & 0 deletions src/main/java/frc/robot/subsystems/SwerveDrive.java
Original file line number Diff line number Diff line change
Expand Up @@ -240,6 +240,7 @@ public double getYawDegrees() {
public void zeroHeading(){
Pose2d pose = new Pose2d(m_odometry.getPoseMeters().getTranslation(), new Rotation2d(0));
//pigeon.reset();
pigeon.setYaw(0);
m_odometry.resetPosition(pigeon.getRotation2d(), modulePositions, pose);
}

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