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Working on Rotation Orientation

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This commit is contained in:
Abhishrek05
2024-02-22 17:59:22 -07:00
parent 2310f1eae0
commit ef598ee7bf
3 changed files with 9 additions and 7 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -4
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@@ -227,11 +227,13 @@ public class RobotContainer {
* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
private void configureButtonBindings() {
/* Driver Buttons */
// ? /* Driver Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip(), m_robotSwerveDrive));
/* Auto Recording */
// ! /* Auto Recording */
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
// () -> getDeadbandedDriverController().getLeftX(),
@@ -258,7 +260,7 @@ public class RobotContainer {
// true, false))
// .onFalse(new InstantCommand());
// /* Speed */
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
@@ -268,7 +270,7 @@ public class RobotContainer {
/* Operator Buttons */
//? /* Operator Buttons */
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2 -2
View File
@@ -95,10 +95,10 @@ public class SwerveDrive extends SubsystemBase {
orientRotTarget = rightStick.getAngle().minus(new Rotation2d(0, 1));
rot = orientRotTarget.minus(gyro.getRotation2d()).getRadians();
}
Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust);
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d());//.times(-1));
chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), -1 * rot * SwerveDriveConstants.ROTATION_SPEED, gyro.getRotation2d()).times(1);
} else { // Create robot-relative speeds.
chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED);
}