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Use forward offset instead of negative one for swerve axis

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This commit is contained in:
Michael Mikovsky
2025-02-25 11:48:39 -07:00
parent 07841b303a
commit 11861bf580
2 changed files with 8 additions and 5 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+3 -3
View File
@@ -139,7 +139,7 @@ public class SwerveDrive extends Subsystem {
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
leftStick = TimesNegativeOne.invert(rightStick, TimesNegativeOne.RotAxis);
@@ -207,7 +207,7 @@ public class SwerveDrive extends Subsystem {
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05) // if no imput
return; // don't bother doing swerve drive math and return early.
leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX() * speedAdjust)
@@ -271,7 +271,7 @@ public class SwerveDrive extends Subsystem {
// if (leftStick.getNorm() < 0.05) //if no imput
// return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
swerveDriveTrain.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX() * -speedAdjust)
src/main/java/frc4388/utility/TimesNegativeOne.java
+5 -2
View File
@@ -2,6 +2,7 @@ package frc4388.utility;
import java.util.Optional;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
@@ -14,6 +15,7 @@ public class TimesNegativeOne {
public static boolean YAxis = SwerveDriveConstants.INVERT_Y;
public static boolean RotAxis = SwerveDriveConstants.INVERT_ROTATION;
public static boolean isRed = false;
public static Rotation2d ForwardOffset = Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET);
private static boolean isRed() {
Optional<Alliance> alliance = DriverStation.getAlliance();
@@ -23,9 +25,10 @@ public class TimesNegativeOne {
public static void update(){
isRed = isRed();
XAxis = SwerveDriveConstants.INVERT_X ^ isRed;
YAxis = SwerveDriveConstants.INVERT_Y ^ isRed;
XAxis = SwerveDriveConstants.INVERT_X;// ^ isRed;
YAxis = SwerveDriveConstants.INVERT_Y;// ^ isRed;
RotAxis = SwerveDriveConstants.INVERT_ROTATION;
ForwardOffset = Rotation2d.fromDegrees((SwerveDriveConstants.FORWARD_OFFSET + (isRed ? 180 : 0)));
}
public static double invert(double num, boolean invert){