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Bumpers and drift protection

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This commit is contained in:
aarav18
2022-01-15 14:55:07 -07:00
parent 04ae55a066
commit 45574a2a06
4 changed files with 36 additions and 14 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+4 -2
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@@ -71,7 +71,7 @@ public class SwerveModule extends SubsystemBase {
* Set the speed + rotation of the swerve module from a SwerveModuleState object
* @param desiredState - A SwerveModuleState representing the desired new state of the module
*/
public void setDesiredState(SwerveModuleState desiredState) {
public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) {
Rotation2d currentRotation = getAngle();
SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
@@ -85,7 +85,9 @@ public class SwerveModule extends SubsystemBase {
// Convert the CANCoder from it's position reading back to ticks
double currentTicks = canCoder.getPosition() / canCoder.configGetFeedbackCoefficient();
double desiredTicks = currentTicks + deltaTicks;
angleMotor.set(TalonFXControlMode.Position, desiredTicks);
if (!ignoreAngle){
angleMotor.set(TalonFXControlMode.Position, desiredTicks);
}
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);