Team4388/2023WayOfTheRobot
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aarav18
2023-03-15 17:46:12 -06:00
parent 11046d9dd9
commit 5b472daf2f
2 changed files with 10 additions and 37 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+10 -3
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@@ -67,7 +67,9 @@ public class SwerveDrive extends SubsystemBase {
}
// Use the left joystick to set speed. Apply a cubic curve and the set max speed.
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
Translation2d speed = leftStick.times(speedAdjust * leftStick.getNorm());
// Translation2d speed = leftStick.times(speedAdjust / leftStick.getNorm());
Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
// Convert field-relative speeds to robot-relative speeds.
@@ -117,12 +119,17 @@ public class SwerveDrive extends SubsystemBase {
}
public void toggleGear(double angle) {
if (this.speedAdjust == SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW
&& Math.abs(angle) < 2) {
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.ROTATION_SPEED = SwerveDriveConstants.MAX_ROT_SPEED;
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MAX;
} else {
this.speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
SwerveDriveConstants.ROTATION_SPEED = SwerveDriveConstants.MIN_ROT_SPEED;
SwerveDriveConstants.ROT_CORRECTION_SPEED = SwerveDriveConstants.CORRECTION_MIN;
}
}