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Merge branch 'master' into photon-and-pathplanner-Overhaul-Swerve

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Michael Mikovsky
2025-01-14 17:42:24 -07:00
parent cfe3ece8e5 b4fc99f670
commit 187e9fe31a
5 changed files with 162 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2 -2
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@@ -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)
);
@@ -181,7 +181,7 @@ public class SwerveDrive extends Subsystem {
}
public void stopModules() {
swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
// swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake());
}
@Override