Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

x /= i^2

Browse Source
This commit is contained in:
Michael Mikovsky
2025-02-24 17:59:44 -07:00
parent 761a56cf0f
commit 07841b303a
6 changed files with 71 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+8 -19
View File
@@ -35,9 +35,8 @@ import frc4388.robot.commands.GotoLastApril;
import frc4388.robot.commands.LidarAlign;
import frc4388.utility.Status;
import frc4388.utility.Subsystem;
import frc4388.utility.TimesNegativeOne;
import frc4388.utility.Status.ReportLevel;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import com.pathplanner.lib.config.PIDConstants;
@@ -103,11 +102,11 @@ public class SwerveDrive extends Subsystem {
// This will flip the path being followed to the red side of the field.
// THE ORIGIN WILL REMAIN ON THE BLUE SIDE
var alliance = DriverStation.getAlliance();
if (alliance.isPresent()) {
return alliance.get() == DriverStation.Alliance.Red;
}
return false;
// var alliance = DriverStation.getAlliance();
// if (alliance.isPresent()) {
// return alliance.get() == DriverStation.Alliance.Red;
// }
return TimesNegativeOne.isRed;
},
this // Reference to this subsystem to set requirements
);
@@ -141,18 +140,8 @@ public class SwerveDrive extends Subsystem {
return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
Optional<Alliance> alliance = DriverStation.getAlliance();
if(!alliance.isEmpty()){
if (alliance.get() == Alliance.Red)
leftStick = new Translation2d(-leftStick.getX(), leftStick.getY());
else
leftStick = new Translation2d(leftStick.getX(), -leftStick.getY());
// if (alliance.get() != Alliance.Red) leftStick = new Translation2d(leftStick.getX(), -leftStick.getY());
}
if (SwerveDriveConstants.INVERT_ROTATION) rightStick.times(-1);
leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
leftStick = TimesNegativeOne.invert(rightStick, TimesNegativeOne.RotAxis);
stopped = false;