Team4388/2023WayOfTheRobot
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FINAL OFFSETS ARE IN CODE

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aarav18
2023-01-31 19:24:12 -07:00
parent 2376d2636f
commit e6b2d2f486
5 changed files with 42 additions and 16 deletions
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src/main/java/frc4388/robot/Robot.java
+3 -3
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@@ -169,9 +169,9 @@ public class Robot extends TimedRobot {
}
private void drive(boolean fieldRelative) {
final double xSpeed = -xLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftYAxis(), 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
final double ySpeed = -yLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftXAxis(), 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
final double rot = -rotLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getRightXAxis(), 0.02) * Units.feetToMeters(Math.PI));
final double xSpeed = -xLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftXAxis() * -0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
final double ySpeed = -yLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getLeftYAxis() * 0.3, 0.02) * Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND));
final double rot = -rotLimiter.calculate(MathUtil.applyDeadband(m_robotContainer.getDriverController().getRightXAxis() * 0.3, 0.02) * Units.feetToMeters(Math.PI));
m_robotContainer.m_robotSwerveDrive.drive(xSpeed, ySpeed, rot, fieldRelative);
}