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basic climber code (DRIVE STILL NOT WORKING)

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aarav18
2022-03-17 20:01:32 -06:00
parent d9b49b9673
commit 470552c575
3 changed files with 46 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -122,7 +122,7 @@ public class SwerveDrive extends SubsystemBase {
double ySpeedMetersPerSecond = speed.getY();
chassisSpeeds = fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond,
rot * SwerveDriveConstants.ROTATION_SPEED, new Rotation2d(m_gyro.getRotation2d().getRadians() + (Math.PI/2)))
rot * SwerveDriveConstants.ROTATION_SPEED, new Rotation2d(-m_gyro.getRotation2d().getRadians() + (Math.PI*2)))
: new ChassisSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rightX * SwerveDriveConstants.ROTATION_SPEED * 8);
SwerveModuleState[] states = m_kinematics.toSwerveModuleStates(
chassisSpeeds);