Team4388/2023WayOfTheRobot
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high and low speed gears

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aarav18
2023-01-15 16:32:41 -07:00
parent 67f26bb504
commit 91bbb34355
2 changed files with 12 additions and 3 deletions
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src/main/java/frc4388/robot/Constants.java
+3 -1
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@@ -59,7 +59,9 @@ public final class Constants {
public static final class Conversions {
public static final int CANCODER_TICKS_PER_ROTATION = 4096;
public static final double JOYSTICK_TO_METERS_PER_SECOND = 5.0; // 2022's robot: 11 m/s for fast, 2 m/s for slow
public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11.0; // TODO: find the actual value
public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 2.0; // TODO: find the actual value
public static final double MOTOR_REV_PER_WHEEL_REV = -1; // TODO: find the actual value
public static final double TICKS_PER_MOTOR_REV = 2048;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+9 -2
View File
@@ -31,6 +31,8 @@ public class SwerveDrive extends SubsystemBase {
private RobotGyro gyro;
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW; // * slow by default
/** Creates a new SwerveDrive. */
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
this.leftFront = leftFront;
@@ -44,8 +46,8 @@ public class SwerveDrive extends SubsystemBase {
}
public void driveWithInput(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND;
double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND;
double xSpeedMetersPerSecond = xSpeed * SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
double ySpeedMetersPerSecond = ySpeed * SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST;
SwerveModuleState[] states = kinematics.toSwerveModuleStates(
fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedMetersPerSecond, ySpeedMetersPerSecond, rot, gyro.getRotation2d())
@@ -72,4 +74,9 @@ public class SwerveDrive extends SubsystemBase {
public void periodic() {
// This method will be called once per scheduler run
}
public void highSpeed(boolean shift) {
this.speedAdjust = shift ? SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST : SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
}
}