Team4388/2024AcrossTheRidgebotiverse
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denver comp (im tweakin)

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Abhishrek05
2024-03-21 09:01:42 -06:00
parent 037d2172d7
commit 6b0e4b9cad
7 changed files with 388 additions and 296 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+6 -6
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@@ -62,7 +62,7 @@ public class SwerveDrive extends SubsystemBase {
// ! drift correction
if (rightStick.getNorm() > 0.05) {
rotTarget = gyro.getAngle();
rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
rot = rightStick.getX();
// SmartDashboard.putBoolean("drift correction", false);
stopped = false;
} else if(leftStick.getNorm() > 0.05) {
@@ -144,7 +144,7 @@ public class SwerveDrive extends SubsystemBase {
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), -1 * rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d()).times(1);
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d()).times(1);
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}
@@ -183,22 +183,22 @@ public class SwerveDrive extends SubsystemBase {
public void resetGyro() {
gyro.reset();
rotTarget = 0.0;
rotTarget = gyro.getAngle();
}
public void resetGyroFlip() {
gyro.resetFlip();
rotTarget = 0.0;
rotTarget = gyro.getAngle();
}
public void resetGyroRightBlue() {
gyro.resetRightSideBlue();
rotTarget = 0.0;
rotTarget = gyro.getAngle();
}
public void resetGyroRightAmp() {
gyro.resetAmpSide();
rotTarget = 0.0;
rotTarget = gyro.getAngle();
}
public void stopModules() {