Team4388/2023WayOfTheRobot
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fixes for driving

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Aarav
2023-03-16 12:58:55 -06:00
parent 11046d9dd9
commit 6ab8b13056
4 changed files with 90 additions and 19 deletions
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src/main/java/frc4388/utility/controller/DeadbandedXboxController.java
+7 -1
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@@ -20,8 +20,14 @@ public class DeadbandedXboxController extends XboxController {
public static Translation2d skewToDeadzonedCircle(double x, double y) {
Translation2d translation2d = new Translation2d(x, y);
double magnitude = translation2d.getNorm();
if (OIConstants.SKEW_STICKS && magnitude >= 1) return translation2d.div(magnitude);
// if (OIConstants.SKEW_STICKS && magnitude >= 1) {
// System.out.println("if statement running");
// return translation2d.div(magnitude);
// }
if (magnitude < LEFT_AXIS_DEADBAND) return new Translation2d(0,0);
return translation2d;
}
}