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wpilib example swerve

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Abhi
2023-01-24 17:57:48 -07:00
parent b24bc6c6ab
commit 2376d2636f
3 changed files with 42 additions and 10 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -9
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@@ -32,7 +32,7 @@ public class RobotContainer {
private final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
private final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack);//, m_robotMap.gyro);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack);//, m_robotMap.gyro);
// private final LED m_robotLED = new LED(m_robotMap.LEDController);
@@ -65,16 +65,18 @@ public class RobotContainer {
// 0, false), m_robotSwerveDrive)
// );
m_robotSwerveDrive.setDefaultCommand(
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
-0.3 * getDriverController().getLeftXAxis(),
0.3 * getDriverController().getLeftYAxis(),
0.3 * getDriverController().getRightXAxis(),
0.3 * getDriverController().getRightYAxis(),
true),
m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
// m_robotSwerveDrive.setDefaultCommand(
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(
// -0.3 * getDriverController().getLeftXAxis(),
// 0.3 * getDriverController().getLeftYAxis(),
// 0.3 * getDriverController().getRightXAxis(),
// 0.3 * getDriverController().getRightYAxis(),
// true),
// m_robotSwerveDrive).withName("Swerve driveWithInput defaultCommand"));
}
/**
* Use this method to define your button->command mappings. Buttons can be
* created by instantiating a {@link GenericHID} or one of its subclasses