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This commit is contained in:
Michael Mikovsky
2024-06-18 11:52:58 -06:00
parent 5b0132a259
commit d19ff47543
9 changed files with 220 additions and 437 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+7 -1
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@@ -53,9 +53,15 @@ public class SwerveDrive extends SubsystemBase {
this.modules = new SwerveModule[] {this.leftFront, this.rightFront, this.leftBack, this.rightBack};
}
public void oneModuleTest(SwerveModule module, Translation2d leftStick, Translation2d rightStick){
double ang = (Math.atan2(rightStick.getY(), rightStick.getX()) / (Math.PI*2));
System.out.println(ang);
module.go(ang);
}
boolean stopped = false;
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
rightFront.go(leftStick);
// if (fieldRelative) {
// double rot = 0;