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FIX

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This commit is contained in:
Ryan Manley
2022-03-10 16:47:32 -07:00
parent dce8ab320c
commit e237f14537
7 changed files with 80 additions and 31 deletions
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src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+2 -1
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@@ -4,6 +4,7 @@ import static frc4388.robot.Constants.OIConstants.LEFT_AXIS_DEADBAND;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.XboxController;
import frc4388.robot.Constants.OIConstants;
public class DeadbandedXboxController extends XboxController {
public DeadbandedXboxController(int port) { super(port); }
@@ -14,7 +15,7 @@ public class DeadbandedXboxController extends XboxController {
public static Translation2d skewToDeadzonedCircle(double x, double y) {
Translation2d translation2d = new Translation2d(x, y);
double magnitude = translation2d.getNorm();
if (magnitude >= 1) return translation2d.div(magnitude);
if (OIConstants.SKEW_STICKS && magnitude >= 1) return translation2d.div(magnitude);
if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
return translation2d;
}