Team4388/2024AcrossTheRidgebotiverse
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Almost Ready for Denver (im actually tweaking out of my mind please help me)

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Abhishrek05
2024-03-16 16:03:41 -06:00
parent 4efa4385ff
commit 037d2172d7
7 changed files with 77 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+10 -1
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@@ -34,6 +34,7 @@ public class SwerveDrive extends SubsystemBase {
private RobotGyro gyro;
public double speedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_FAST; // * slow by default
public double rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
public double autoSpeedAdjust = SwerveDriveConstants.Conversions.JOYSTICK_TO_METERS_PER_SECOND_SLOW;
public double rotTarget = 0.0;
@@ -81,7 +82,7 @@ public class SwerveDrive extends SubsystemBase {
// 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(), -1 * speed.getY(), rightStick.getX(), gyro.getRotation2d());//.times(-1));
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX() * rotSpeedAdjust, gyro.getRotation2d());//.times(-1));
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}
@@ -279,6 +280,14 @@ public class SwerveDrive extends SubsystemBase {
}
}
public void shiftUpRot() {
rotSpeedAdjust = SwerveDriveConstants.ROTATION_SPEED;
}
public void shiftDownRot() {
rotSpeedAdjust = SwerveDriveConstants.MIN_ROT_SPEED;
}
}