Team4388/2023WayOfTheRobot
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Abhi
2023-02-25 09:52:33 -07:00
parent 84ed4c0e40
commit ca3dbbba48
1 changed files with 3 additions and 3 deletions
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src/main/java/frc4388/robot/commands/AutoBalance.java
+3 -3
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@@ -26,7 +26,7 @@ public class AutoBalance extends PelvicInflammatoryDisease {
@Override
public double getError() {
var pitch = gyro.getPitch();
var pitch = gyro.getRoll();
SmartDashboard.putNumber("pitch", pitch);
return pitch;
}
@@ -34,8 +34,8 @@ public class AutoBalance extends PelvicInflammatoryDisease {
@Override
public void runWithOutput(double output) {
double out2 = MathUtil.clamp(output / 40, -.5, .5);
if (Math.abs(gyro.getPitch()) < 3) out2 = 0;
drive.driveWithInput(new Translation2d(0, out2), new Translation2d(), false);
if (Math.abs(getError()) < 3) out2 = 0;
drive.driveWithInput(new Translation2d(0, out2), new Translation2d(), true);
}
@Override