Team4388/2023WayOfTheRobot
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Aarav
2023-03-15 13:03:02 -06:00
parent f7b804680b
commit 29eeee1f7f
5 changed files with 24 additions and 19 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+13 -7
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@@ -12,6 +12,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import frc4388.robot.Constants.SwerveDriveConstants;
@@ -37,7 +38,7 @@ public class SwerveDrive extends SubsystemBase {
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
public Rotation2d rotTarget = new Rotation2d();
public double rotTarget = 0;
public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
/** Creates a new SwerveDrive. */
@@ -56,11 +57,13 @@ public class SwerveDrive extends SubsystemBase {
if (fieldRelative) {
double rot = 0;
if (rightStick.getNorm() > 0.01) {
rotTarget = gyro.getRotation2d();
if (rightStick.getNorm() > 0.05) {
rotTarget = gyro.getAngle();
rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
SmartDashboard.putBoolean("drift correction", false);
} else {
rot = rotTarget.minus(gyro.getRotation2d()).getRadians() * SwerveDriveConstants.ROT_CORRECTION_SPEED;
SmartDashboard.putBoolean("drift correction", true);
rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
}
// Use the left joystick to set speed. Apply a cubic curve and the set max speed.
@@ -95,7 +98,7 @@ public class SwerveDrive extends SubsystemBase {
public void resetGyro() {
gyro.reset();
rotTarget = new Rotation2d(0);
rotTarget = 0;
}
public void stopModules() {
@@ -113,11 +116,14 @@ public class SwerveDrive extends SubsystemBase {
// This method will be called once per scheduler run
}
public void toggleGear() {
if (this.speedAdjust == SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW) {
public void toggleGear(double angle) {
if (this.speedAdjust == SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW
&& Math.abs(angle) < 2) {
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MAX;
} else {
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
}
}