Team4388/2024AcrossTheRidgebotiverse
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This commit is contained in:
Abhishrek05
2024-03-06 18:06:21 -07:00
parent a7e9ef9951
commit d0b5c15c2d
2 changed files with 11 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -4
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@@ -40,9 +40,9 @@ public final class Constants {
public static final double TURBO_SPEED = 4.0;
public static final class DefaultSwerveRotOffsets {
public static final double FRONT_LEFT_ROT_OFFSET = 130.957 + 90;
public static final double FRONT_RIGHT_ROT_OFFSET = 77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = 347.871 + 90;
public static final double FRONT_LEFT_ROT_OFFSET = 216.869140625;
public static final double FRONT_RIGHT_ROT_OFFSET = 226.119140625;//-212.695 + 90; //77.783 + 45 + 90 ;//-202.588;
public static final double BACK_LEFT_ROT_OFFSET = -277.5587969;
public static final double BACK_RIGHT_ROT_OFFSET = 52.646 + 90;
}
@@ -67,7 +67,7 @@ public final class Constants {
public static final class PIDConstants {
public static final int SWERVE_SLOT_IDX = 0;
public static final int SWERVE_PID_LOOP_IDX = 1;
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.1, 0.0, 0, 1.0);
public static final Gains SWERVE_GAINS = new Gains(1.2, 0.0, 0.0, 0.0, 0, 1.0);
}
public static final class AutoConstants {
src/main/java/frc4388/robot/RobotContainer.java
+7 -1
View File
@@ -8,6 +8,7 @@
package frc4388.robot;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj2.command.Command;
@@ -351,7 +352,12 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.whileTrue(new InstantCommand(() ->
m_robotSwerveDrive.driveWithInput(new Translation2d(0, 1),
new Translation2d(0, 0),
true), m_robotSwerveDrive));
//? /* Operator Buttons */