DriveFacingPose Command

Overview

The DriveFacingPose command implements advanced pose-relative driving capabilities, automatically orienting the robot to face a target position while maintaining normal drive control. This command utilizes sophisticated geometry calculations and PID control for precise orientation management.

Required Subsystems

• SwerveDriveSubsystem

Constructor Parameters

• swerveDriveSubsystem: The SwerveDrive subsystem instance this command will control
• targetPose: A supplier that provides the target Pose2d to face towards

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 DriveFacingPose Javadoc