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aarav18
2021-12-02 17:56:35 -07:00
parent 097a972625
commit eebb620e38
1 changed files with 3 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -1
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@@ -82,9 +82,11 @@ public class SwerveDrive
m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + lefBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
// PID
} }
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate) // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)