Team4388/2023WayOfTheRobot
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integrated gyro + odometry, trying to fix drift

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This commit is contained in:
Abhi
2023-02-04 11:22:43 -07:00
parent 05165d6ca6
commit 47c29c9b34
5 changed files with 234 additions and 69 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -6
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@@ -30,7 +30,7 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */
public 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);
@@ -50,7 +50,7 @@ public class RobotContainer {
() -> getDriverController().getLeftXAxis(),
() -> getDriverController().getLeftYAxis(),
() -> getDriverController().getRightXAxis(),
false));
true));
// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
@@ -68,14 +68,16 @@ public class RobotContainer {
/* Driver Buttons */
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotMap.gyro.reset()));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
// .onFalse()
/* Operator Buttons */
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
/* Operator Buttons */
// interrupt button
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.onTrue(new InstantCommand());