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fix SwerveDrive.java

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This commit is contained in:
Aarav Shah
2023-02-27 18:35:20 -07:00
committed by GitHub
parent 85eaef2df5
commit 77d1f0879e
1 changed files with 6 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+6 -6
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@@ -19,10 +19,10 @@ import frc4388.utility.RobotGyro;
public class SwerveDrive extends SubsystemBase {
public SwerveModule leftFront;
public SwerveModule rightFront;
public SwerveModule leftBack;
public SwerveModule rightBack;
private SwerveModule leftFront;
private SwerveModule rightFront;
private SwerveModule leftBack;
private SwerveModule rightBack;
private SwerveModule[] modules;
@@ -106,7 +106,7 @@ public class SwerveDrive extends SubsystemBase {
* @param desiredStates Array of module states to set.
*/
public void setModuleStates(SwerveModuleState[] desiredStates) {
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.metersToFeet(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
@@ -205,7 +205,7 @@ public class SwerveDrive extends SubsystemBase {
/**
* Resets the odometry of the SwerveDrive to 0.
* *NOTE: If you reset your gyroscope or wheel encoders, this method MUST be called with the new gyro angle and wheel encoder positions.
* *NOTE: If you reset your gyro, this method MUST be called with the new gyro angle and wheel encoder positions.
*/
// public void resetOdometry() {
// setOdometry(new Pose2d());