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ready for comp (im geekin)

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Abhishrek05
2024-02-29 06:45:18 -07:00
parent de653a1edb
commit c5f5e6c57f
3 changed files with 94 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+4 -2
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@@ -87,12 +87,14 @@ public class SwerveDrive extends SubsystemBase {
setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds));
}
public void driveWithInputOrientation(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
public void driveWithInputOrientation(Translation2d leftStick, double rightX, double rightY, boolean fieldRelative) {
Translation2d rightStick = new Translation2d(rightX, rightY);
if(fieldRelative) {
double rot = 0;
if(rightStick.getNorm() > 0.5) {
orientRotTarget = rightStick.getAngle().minus(new Rotation2d(0, 1));
orientRotTarget = new Rotation2d(rightX, -rightY).minus(new Rotation2d(0,1));
rot = orientRotTarget.minus(gyro.getRotation2d()).getRadians();
}