Team4388/2023WayOfTheRobot
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some auto work (not working at all)

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aarav18
2023-02-07 23:32:19 -07:00
parent 4bfb26a50a
commit 4900c397c4
3 changed files with 34 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+5 -5
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@@ -77,13 +77,10 @@ public class SwerveDrive extends SubsystemBase {
// Use the left joystick to set speed. Apply a quadratic curve and the set max speed.
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
if (rightStick.getNorm() < 0.1) {
rot = 0;
}
// Convert field-relative speeds to robot-relative speeds.
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
} else {
// Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), leftStick.getY(), rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}
@@ -178,7 +175,10 @@ public class SwerveDrive extends SubsystemBase {
updateOdometry();
// SmartDashboard.putNumberArray("Odometry", new double[] {getOdometry().getX(), getOdometry().getY(), getOdometry().getRotation().getDegrees()});
SmartDashboard.putNumber("Odo X", getOdometry().getX());
SmartDashboard.putNumber("Odo Y", getOdometry().getY());
SmartDashboard.putNumber("Odo Theta", getOdometry().getRotation().getDegrees());
SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
}