Team4388/2024AcrossTheRidgebotiverse
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Lots of bs (im geekin)

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This commit is contained in:
Abhishrek05
2024-02-16 21:49:50 -07:00
parent 2825af3cde
commit 890a3de02a
11 changed files with 135 additions and 229 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2 -2
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@@ -58,7 +58,7 @@ public class SwerveDrive extends SubsystemBase {
if (rightStick.getNorm() > 0.05) {
rotTarget = gyro.getAngle();
rot = rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED;
SmartDashboard.putBoolean("drift correction", false);
// SmartDashboard.putBoolean("drift correction", false);
stopped = false;
} else if(leftStick.getNorm() > 0.05) {
if (!stopped) {
@@ -66,7 +66,7 @@ public class SwerveDrive extends SubsystemBase {
stopped = true;
}
SmartDashboard.putBoolean("drift correction", true);
// SmartDashboard.putBoolean("drift correction", true);
rot = ((rotTarget - gyro.getAngle()) / 360) * SwerveDriveConstants.ROT_CORRECTION_SPEED;