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This commit is contained in:
aarav18
2022-01-31 19:46:21 -07:00
parent 7d67158d00
commit 79ac8dd551
6 changed files with 9 additions and 9 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -4
View File
@@ -127,10 +127,10 @@ public class RobotContainer {
testFirstPath,
m_robotSwerveDrive::getOdometry,
m_robotSwerveDrive.m_kinematics,
new PIDController(0.0, 0.0, 0.0),
new PIDController(0.0, 0.0, 0.0),
new ProfiledPIDController(0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)),
m_robotSwerveDrive::setModuleStates,
new PIDController(0.0, 0.0, 0.0),
new PIDController(0.0, 0.0, 0.0),
new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)),
m_robotSwerveDrive::setModuleStates,
m_robotSwerveDrive
);
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
View File
@@ -144,7 +144,7 @@ public class SwerveDrive extends SubsystemBase {
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
module.setDesiredState(state, ignoreAngles);
module.setDesiredState(state, false);
}
}