Team4388/2023WayOfTheRobot
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drive done

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This commit is contained in:
Abhi
2023-02-02 17:55:52 -07:00
parent 70dbd48760
commit 1e812f706b
4 changed files with 117 additions and 43 deletions
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src/main/java/frc4388/robot/Robot.java
-13
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@@ -64,10 +64,6 @@ public class Robot extends TimedRobot {
}
}
private final SlewRateLimiter xLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter yLimiter = new SlewRateLimiter(3);
private final SlewRateLimiter rotLimiter = new SlewRateLimiter(3);
// private MicroBot bot = new MicroBot();
/**
@@ -165,15 +161,6 @@ public class Robot extends TimedRobot {
// SmartDashboard.putNumber("yaw", m_robotContainer.gyroRef.getAngle());
// SmartDashboard.putNumber("pitch", m_robotContainer.gyroRef.getPitch());
// SmartDashboard.putNumber("roll", m_robotContainer.gyroRef.getRoll());
this.drive(false);
}
private void drive(boolean fieldRelative) {
final double xSpeed = -xLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftXAxis() * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
final double ySpeed = -yLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftYAxis() * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
final double rot = -rotLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getRightXAxis() * 0.3, 0.02) * Units.feetToMeters(Math.PI));
m_robotContainer.m_robotSwerveDrive.drive(xSpeed, ySpeed, rot, fieldRelative);
}
/**