setPoseHolding

Enabling this option is a convenience configuration option to schedule the default task of MecanumDrive to be a MecanumDrive.HoldLastPoseTask. This task will continue to run the RoadRunner feedback loops even when no trajectory is running, ensuring the robot corrects for disturbances despite the fact a trajectory is not active.

Without pose holding, and by default, disturbances that occur while the drive is not running a trajectory will not be corrected for. Enabling this option ensures it will correct in the context of a running task.

Parameters