Cosine Compensation

This is helpful, sometimes

How Cosine Compensation works?

Cosine compensation scales the speed of your wheel by the cosine of the angle delta of the swerve module.

How do I enable it?

Cosine compensation does not work in simulation and is inteded for use on the robot ONLY! Please test it thoroughly before deciding to use it in competition.

Cosine compensation is easy to enable! All it takes is the funciton SwerveDrive.setCosineCompensator!

 /**
   * Initialize {@link SwerveDrive} with the directory provided.
   *
   * @param directory Directory of swerve drive config files.
   */
  public SwerveSubsystem(File directory)
  {
    // Configure the Telemetry before creating the SwerveDrive to avoid unnecessary objects being created.
    SwerveDriveTelemetry.verbosity = TelemetryVerbosity.HIGH;
    swerveDrive = new SwerveParser(directory).createSwerveDrive(Constants.MAX_SPEED);
    swerveDrive.setCosineCompensator(false); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life.
  }