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Made some autos (need to correct PID) (Im tweakin)

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Abhishrek05
2024-03-12 16:10:20 -06:00
parent 5aa9a10ca2
commit 23575dd33a
4 changed files with 23 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
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@@ -81,7 +81,7 @@ 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() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rightStick.getX(), gyro.getRotation2d());//.times(-1));
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}