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drive stuff

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This commit is contained in:
aarav18
2022-03-18 10:52:48 -06:00
parent 470552c575
commit 18e7c336ec
2 changed files with 8 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -171,9 +171,9 @@ public class RobotContainer {
// m_robotBoomBoom, // m_robotBoomBoom,
// m_robotTurret).withName("Storage ManageStorage defaultCommand")); // m_robotTurret).withName("Storage ManageStorage defaultCommand"));
m_robotClimber.setDefaultCommand( // m_robotClimber.setDefaultCommand(
new RunCommand(() -> m_robotClimber.runBothMotorsWithInputs(getDriverController().getLeftY() * 0.1, getDriverController().getRightY() * 0.1), m_robotClimber) // new RunCommand(() -> m_robotClimber.runBothMotorsWithInputs(getDriverController().getLeftY() * 0.1, getDriverController().getRightY() * 0.1), m_robotClimber)
); // );
// Storage Management // Storage Management
/*m_robotStorage.setDefaultCommand( /*m_robotStorage.setDefaultCommand(
new RunCommand(() -> m_robotStorage.manageStorage(), new RunCommand(() -> m_robotStorage.manageStorage(),
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+5 -5
View File
@@ -113,17 +113,17 @@ public class SwerveDrive extends SubsystemBase {
public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) { public void driveWithInput(double leftX, double leftY, double rightX, double rightY, boolean fieldRelative) {
ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0; ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
Translation2d speed = new Translation2d(-leftX, leftY); Translation2d speed = new Translation2d(leftX, leftY);
speed = speed.times(speed.getNorm() * speedAdjust); speed = speed.times(speed.getNorm() * speedAdjust);
if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND) if (Math.abs(rightX) > OIConstants.RIGHT_AXIS_DEADBAND || Math.abs(rightY) > OIConstants.RIGHT_AXIS_DEADBAND)
rotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0, 1)); rotTarget = new Rotation2d(rightX, rightY);
double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians(); double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
double xSpeedMetersPerSecond = -speed.getX(); double xSpeedMetersPerSecond = speed.getX();
double ySpeedMetersPerSecond = speed.getY(); double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI*2))) rot * SwerveDriveConstants.ROTATION_SPEED * speedAdjust, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI*2) + (Math.PI /2)))
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED * 8); : new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED * speedAdjust);
SwerveModuleState[] states = m_kinematics.toSwerveModuleStates( SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(
chassisSpeeds); chassisSpeeds);
setModuleStates(states); setModuleStates(states);