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Fix 2024 auto align

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This commit is contained in:
Michael Mikovsky
2025-01-15 17:55:24 -07:00
parent 5f9a38f55d
commit 063fb74b78
4 changed files with 22 additions and 21 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+1 -1
View File
@@ -79,7 +79,7 @@ public class SwerveDrive extends Subsystem {
if (fieldRelative) {
swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
.withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityX(leftStick.getX()*-speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust)
.withRotationalRate(rightStick.getX()*rotSpeedAdjust)
);
src/main/java/frc4388/robot/subsystems/Vision.java
+1 -1
View File
@@ -110,7 +110,7 @@ public class Vision extends Subsystem {
}
lastVisionPose = EstimatedRobotPose.get().estimatedPose.toPose2d();
lastVisionPose.rotateBy(Rotation2d.k180deg);
// lastVisionPose.rotateBy(Rotation2d.k180deg);
// lastVisionPose = new Pose2d(
// lastVisionPose.getTranslation(),
// lastPhysOdomPose.getRotation()