Team4388/2024AcrossTheRidgebotiverse
1
0
Fork 0
mirror of https://github.com/Team4388/2024AcrossTheRidgebotiverse.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Working on Rotation Orientation

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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);
}