Team4388/2023WayOfTheRobot
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drift fix

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aarav18
2023-02-07 18:54:09 -07:00
parent 58a07ae8a6
commit d5dbbdf190
1 changed files with 5 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+5 -3
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@@ -79,9 +79,9 @@ public class SwerveDrive extends SubsystemBase {
// Use the left joystick to set speed. Apply a quadratic curve and the set max speed. // Use the left joystick to set speed. Apply a quadratic curve and the set max speed.
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust); Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
if (rightStick.getNorm() < 0.1) { // if (rightStick.getNorm() < .1) {
rot = 0; // rot = 0;
} // }
// Convert field-relative speeds to robot-relative speeds. // Convert field-relative speeds to robot-relative speeds.
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1)); chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
@@ -176,7 +176,9 @@ public class SwerveDrive extends SubsystemBase {
SmartDashboard.putNumber("Odo X (ft)", Units.metersToFeet(this.getOdometry().getX())); SmartDashboard.putNumber("Odo X (ft)", Units.metersToFeet(this.getOdometry().getX()));
SmartDashboard.putNumber("Odo Y (ft)", Units.metersToFeet(this.getOdometry().getY())); SmartDashboard.putNumber("Odo Y (ft)", Units.metersToFeet(this.getOdometry().getY()));
SmartDashboard.putNumber("Odo Theta", this.getOdometry().getRotation().getDegrees()); SmartDashboard.putNumber("Odo Theta", this.getOdometry().getRotation().getDegrees());
SmartDashboard.putNumber("Gyro Angle", getGyroAngle()); SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
SmartDashboard.putNumber("rotTarget", this.rotTarget.getDegrees());
} }
/** /**