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Fix field relative rotation

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nathanrsxtn
2022-01-31 19:29:00 -07:00
parent c6975fa81e
commit 6cf8ca98c3
5 changed files with 16 additions and 14 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2 -2
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@@ -131,8 +131,8 @@ public class SwerveDrive extends SubsystemBase {
ignoreAngles = leftX == 0 && leftY == 0 && rightX == 0 && rightY == 0;
Translation2d speed = new Translation2d(leftX, leftY);
speed = speed.times(speed.getNorm() * speedAdjust);
if (rightX > OIConstants.AXIS_DEADBAND || rightY > OIConstants.AXIS_DEADBAND)
rotTarget = new Rotation2d(rightX, -rightY);
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));
double rot = rotTarget.minus(m_gyro.getRotation2d()).getRadians();
double xSpeedMetersPerSecond = -speed.getX();
double ySpeedMetersPerSecond = speed.getY();