Lamda Function for Desired Holonomic Rotation Versus Fixed EndGoal Rotation with Delay

[mjbergman92]

When generating paths to drive an intake game piece off the floor, the intake needs to be facing the direction the robot is headed.

An alternative constructor of PathfindingCommand which instead of a targetPath or a target Pose, it has a targetPosition and Function with targetState as input and Rotation2d output called targetHolonomicRotationFunction.

This way, given the targetState velocity, the desired rotation can be calculated and used in the PathfindingCommand