From 3249ff1d2f2cbc7020c665b1249eb41539f05bdb Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 27 Feb 2023 18:35:20 -0700 Subject: [PATCH] fix SwerveDrive.java --- .../java/frc4388/robot/subsystems/SwerveDrive.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index e68b65c..ac27c3b 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -19,10 +19,10 @@ import frc4388.utility.RobotGyro; public class SwerveDrive extends SubsystemBase { - public SwerveModule leftFront; - public SwerveModule rightFront; - public SwerveModule leftBack; - public SwerveModule rightBack; + private SwerveModule leftFront; + private SwerveModule rightFront; + private SwerveModule leftBack; + private SwerveModule rightBack; private SwerveModule[] modules; @@ -106,7 +106,7 @@ public class SwerveDrive extends SubsystemBase { * @param desiredStates Array of module states to set. */ public void setModuleStates(SwerveModuleState[] desiredStates) { - SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.metersToFeet(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND)); + SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND)); for (int i = 0; i < desiredStates.length; i++) { SwerveModule module = modules[i]; SwerveModuleState state = desiredStates[i]; @@ -205,7 +205,7 @@ public class SwerveDrive extends SubsystemBase { /** * Resets the odometry of the SwerveDrive to 0. - * *NOTE: If you reset your gyroscope or wheel encoders, this method MUST be called with the new gyro angle and wheel encoder positions. + * *NOTE: If you reset your gyro, this method MUST be called with the new gyro angle and wheel encoder positions. */ // public void resetOdometry() { // setOdometry(new Pose2d());