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some auto stuff

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aarav18
2022-02-03 20:53:43 -07:00
parent 5c05a320e8
commit e9ab948adc
6 changed files with 71 additions and 24 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+7
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@@ -222,6 +222,13 @@ public class SwerveDrive extends SubsystemBase {
// Timer.getFPGATimestamp() - 0.1);
}
public void stopModules() {
modules[0].stop();
modules[1].stop();
modules[2].stop();
modules[3].stop();
}
public void highSpeed(boolean shift){
if (shift){
speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST;