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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
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@@ -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
);