Team4388/2023WayOfTheRobot
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aarav18
2023-02-02 19:43:47 -07:00
parent 188bd89fe0
commit f9b89de6c5
4 changed files with 14 additions and 9 deletions
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src/main/java/frc4388/robot/Robot.java
+3 -3
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@@ -158,9 +158,9 @@ public class Robot extends TimedRobot {
*/ */
@Override @Override
public void teleopPeriodic() { public void teleopPeriodic() {
// SmartDashboard.putNumber("yaw", m_robotContainer.gyroRef.getAngle()); // SmartDashboard.putNumber("yaw", m_robotContainer.m_robotMap.gyro.getAngle());
// SmartDashboard.putNumber("pitch", m_robotContainer.gyroRef.getPitch()); SmartDashboard.putNumber("Robot.java Pitch", m_robotContainer.m_robotMap.gyro.getPitch());
// SmartDashboard.putNumber("roll", m_robotContainer.gyroRef.getRoll()); // SmartDashboard.putNumber("roll", m_robotContainer.m_robotMap.gyro.getRoll());
} }
/** /**
src/main/java/frc4388/robot/RobotContainer.java
+4 -3
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@@ -36,7 +36,7 @@ import frc4388.utility.controller.XboxController;
*/ */
public class RobotContainer { public class RobotContainer {
/* RobotMap */ /* RobotMap */
private final RobotMap m_robotMap = new RobotMap(); public final RobotMap m_robotMap = new RobotMap();
/* Subsystems */ /* Subsystems */
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack);//, m_robotMap.gyro); public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack);//, m_robotMap.gyro);
@@ -99,8 +99,9 @@ public class RobotContainer {
private void configureButtonBindings() { private void configureButtonBindings() {
/* Driver Buttons */ /* Driver Buttons */
// new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON) new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> gyroRef.reset())); .onTrue(new InstantCommand(() -> m_robotMap.gyro.reset()));
// .onFalse()
/* Operator Buttons */ /* Operator Buttons */
// activates "Lit Mode" // activates "Lit Mode"
src/main/java/frc4388/robot/commands/AutoBalance.java
+6 -2
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@@ -19,7 +19,11 @@ public class AutoBalance extends PelvicInflammatoryDisease {
/** Creates a new AutoBalanceTF2. */ /** Creates a new AutoBalanceTF2. */
public AutoBalance(RobotGyro gyro, SwerveDrive drive) { public AutoBalance(RobotGyro gyro, SwerveDrive drive) {
super(.7, .1, 15, 0); super(1.0, 0, 0, 0);
this.gyro = gyro;
this.drive = drive;
addRequirements(drive); addRequirements(drive);
} }
@@ -40,7 +44,7 @@ public class AutoBalance extends PelvicInflammatoryDisease {
@Override @Override
public void initialize() { public void initialize() {
super.initialize(); super.initialize();
this.gyro.reset(); // this.gyro.reset();
} }
// Returns true when the command should end. // Returns true when the command should end.
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+1 -1
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@@ -140,7 +140,7 @@ public class SwerveModule extends SubsystemBase {
double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond); double feetPerSecond = Units.metersToFeet(state.speedMetersPerSecond);
double inchesPerSecond = Units.metersToInches(state.speedMetersPerSecond); double inchesPerSecond = Units.metersToInches(state.speedMetersPerSecond);
driveMotor.set(/*angleMotor.get() + */feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND); driveMotor.set(-1 * angleMotor.get() + feetPerSecond / SwerveDriveConstants.MAX_SPEED_FEET_PER_SECOND);
// driveMotor.set(TalonFXControlMode.Velocity, inchesPerSecond * SwerveDriveConstants.Conversions.TICKS_PER_INCH * SwerveDriveConstants.Conversions.SECONDS_TO_TICK_TIME); // driveMotor.set(TalonFXControlMode.Velocity, inchesPerSecond * SwerveDriveConstants.Conversions.TICKS_PER_INCH * SwerveDriveConstants.Conversions.SECONDS_TO_TICK_TIME);
} }