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aarav

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aarav18
2022-03-22 17:49:15 -06:00
parent 3d63fea44a
commit 8bcfbed745
2 changed files with 9 additions and 9 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -5
View File
@@ -260,8 +260,6 @@ public class RobotContainer {
new JoystickButton(getDriverController(), XboxController.Button.kRightBumper.value)
.whenPressed(() -> m_robotSwerveDrive.highSpeed(true));
//! Operator Buttons
// Right Bumper > Storage Out
@@ -456,13 +454,15 @@ public class RobotContainer {
// return new RunCommandForTime(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(0, 0, 0, true), m_robotSwerveDrive), 1.0, true);
return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 0.3, 0.0, 0.0}, 1.0));//,
return new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, -1.0, 0.0, 0.0}, 1.0);
// System.out.println("AUTOS DONE");
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, -1.0, 0.0, 0.0}, 1.0));//,
// new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
// new ParallelCommandGroup(
// new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
// new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0)
//));
// ));
// * aim with RotateUntilTarget
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+4 -4
View File
@@ -191,10 +191,10 @@ public class SwerveModule extends SubsystemBase {
currentState = this.getState();
Rotation2d currentRotation = getAngle();
SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(),
((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
// Rotation2d currentRotation = getAngle();
// SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
// SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(),
// ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
lastState = currentState;
}