Team4388/2023WayOfTheRobot
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non field relative, but secretly field relative rotation
Arm speeds
This commit is contained in:
Aarav
2023-03-06 16:35:20 -07:00
parent b290645b33
commit dcc43774bf
5 changed files with 66 additions and 18 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+4 -3
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@@ -83,16 +83,17 @@ public class SwerveDrive extends SubsystemBase {
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
if (fieldRelative) {
if (rightStick.getNorm() > 0.1) {
rotTarget = new Rotation2d(rightStick.getX(), -rightStick.getY()).minus(new Rotation2d(0, 1));
rotTarget = gyro.getRotation2d();
}
double rot = rotTarget.minus(gyro.getRotation2d()).getRadians();
double rot = rightStick.getX();
// Use the left joystick to set speed. Apply a quadratic curve and the set max speed.
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00));
// 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 * cubedSpeed.getX(), cubedSpeed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d().times(-1));
} else {
// Create robot-relative speeds.