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Fix field relative rotation

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This commit is contained in:
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/utility/controller/DeadbandedRawXboxController.java
+2 -2
View File
@@ -1,6 +1,6 @@
package frc4388.utility.controller;
import static frc4388.robot.Constants.OIConstants.AXIS_DEADBAND;
import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
import edu.wpi.first.math.geometry.Translation2d;
@@ -14,7 +14,7 @@ public class DeadbandedRawXboxController extends RawXboxController {
Translation2d translation2d = new Translation2d(x, y);
double magnitude = translation2d.getNorm();
if (magnitude >= 1) return translation2d.div(magnitude);
if (magnitude < AXIS_DEADBAND) return new Translation2d(0,0);
if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
return translation2d;
}
}
src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+2 -2
View File
@@ -1,6 +1,6 @@
package frc4388.utility.controller;
import static frc4388.robot.Constants.OIConstants.AXIS_DEADBAND;
import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.XboxController;
@@ -15,7 +15,7 @@ public class DeadbandedXboxController extends XboxController {
Translation2d translation2d = new Translation2d(x, y);
double magnitude = translation2d.getNorm();
if (magnitude >= 1) return translation2d.div(magnitude);
if (magnitude < AXIS_DEADBAND) return new Translation2d(0,0);
if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
return translation2d;
}
}