Team4388/2023WayOfTheRobot
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DRIVING WORKS FIELD RELATIVE NO PROBLEMS

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aarav18
2023-02-04 15:06:42 -07:00
parent 47c29c9b34
commit 5cfd6f971a
8 changed files with 115 additions and 146 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+5 -2
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@@ -126,7 +126,7 @@ public class SwerveModule extends SubsystemBase {
* Set the speed and rotation of the SwerveModule from a SwerveModuleState object
* @param desiredState a SwerveModuleState representing the desired new state of the module
*/
public void setDesiredState(SwerveModuleState desiredState) {
public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) {
Rotation2d currentRotation = this.getAngle();
SwerveModuleState state = SwerveModuleState.optimize(desiredState, currentRotation);
@@ -139,7 +139,10 @@ public class SwerveModule extends SubsystemBase {
// convert the CANCoder from its position reading to ticks
double currentTicks = encoder.getPosition() / encoder.configGetFeedbackCoefficient(); // ? why feedback coefficient
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
if (!ignoreAngle) {
angleMotor.set(TalonFXControlMode.Position, currentTicks + deltaTicks);
}
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
// double inchesPerSecond = Units.metersToFeet(state.speedMetersPerSecond) * 12;