Team4388/2024AcrossTheRidgebotiverse
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updated vs code to 2024 (im geekin)

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Abhishrek05
2024-01-13 15:39:56 -07:00
parent 92bfa72669
commit 32fc28d60a
27 changed files with 480 additions and 225 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -2
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@@ -9,10 +9,10 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.utility.RobotGyro;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class SwerveDrive extends SubsystemBase {
@@ -67,10 +67,11 @@ public class SwerveDrive extends SubsystemBase {
}
SmartDashboard.putBoolean("drift correction", true);
rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;
}
// Use the left joystick to set speed. Apply a cubic 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));