DriveFacingAngle Command

Overview

The DriveFacingAngle command implements sophisticated angle-controlled driving capabilities, allowing the robot to maintain a specific heading while moving. This command utilizes a ProfiledPIDController for precise angle management.

Required Subsystems

• SwerveDriveSubsystem

Constructor Parameters

• swerveDriveSubsystem: The SwerveDrive subsystem instance this command will control
• targetRotation: A supplier that provides the target rotation angle

Configuration Requirements

The following must be configured in TunerConstants: - PID values for angle control - Maximum angular velocity and acceleration constraints - Profile constraints for smooth angle transitions

API Reference

For detailed API documentation, see the DriveFacingAngle Javadoc