Team4388/2024AcrossTheRidgebotiverse
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Janky working prototype, Most code removed, Using phoenix 6

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This commit is contained in:
Michael Mikovsky
2024-06-13 11:51:23 -06:00
parent a1b28dabee
commit cceb2b1cc2
40 changed files with 2426 additions and 296 deletions
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src/main/java/frc4388/utility/RobotGyro.java
+73 -5
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@@ -86,11 +86,12 @@ public class RobotGyro implements Gyro {
*/
@Override
public void calibrate() {
if (m_isGyroAPigeon) {
m_pigeon.calibrate();
} else {
m_navX.calibrate();
}
return;
// if (m_isGyroAPigeon) {
// m_pigeon.calibrate();
// } else {
// m_navX.calibrate();
// }
}
@Override
@@ -102,6 +103,73 @@ public class RobotGyro implements Gyro {
} else {
m_navX.reset();
}
}
public void reset(double val) {
resetZeroValues();
if (m_isGyroAPigeon) {
m_pigeon.setYaw(val);
} else {
m_navX.reset();
}
}
public void resetFlip() {
resetZeroValues();
if (m_isGyroAPigeon) {
m_pigeon.setYaw(180);
} else {
m_navX.reset();
}
}
public void resetNinety() {
resetZeroValues();
if (m_isGyroAPigeon) {
m_pigeon.setYaw(90);
} else {
m_navX.reset();
}
}
public void resetTwoSeventy() {
resetZeroValues();
if (m_isGyroAPigeon) {
m_pigeon.setYaw(270);
} else {
m_navX.reset();
}
}
public void resetRightSideBlue() {
resetZeroValues();
if (m_isGyroAPigeon) {
m_pigeon.setYaw(60);
} else {
m_navX.reset();
}
}
public void resetAmpSide() {
resetZeroValues();
if (m_isGyroAPigeon) {
m_pigeon.setYaw(-60);
} else {
m_navX.reset();
}
}
/**