Team4388/2023WayOfTheRobot
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cancoder offsets

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aarav18
2023-02-02 19:10:08 -07:00
parent 1e812f706b
commit 6666e4a068
7 changed files with 197 additions and 11 deletions
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src/main/java/frc4388/robot/commands/DriveWithInput.java
+1 -1
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@@ -57,7 +57,7 @@ public class DriveWithInput extends CommandBase {
x = -xLimiter.calculate(MathUtil.applyDeadband(x * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
y = -yLimiter.calculate(MathUtil.applyDeadband(y * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
r = -rotLimiter.calculate(MathUtil.applyDeadband(r * 0.3, 0.02) * Units.feetToMeters(Math.PI));
r = -rotLimiter.calculate(MathUtil.applyDeadband(r * 0.3, 0.02) * Units.feetToMeters(5*Math.PI));
swerve.drive(x, y, r, fieldRelative);
}