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

Optimization and improvements

Browse Source
This commit is contained in:
Michael Mikovsky
2025-03-03 16:32:27 -07:00
parent 97630fe2b4
commit 204ba6d511
7 changed files with 74 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+6 -1
View File
@@ -326,7 +326,7 @@ public class SwerveDrive extends Subsystem {
rotTarget += deltaAngle;
}
swerveDriveTrain.addVisionMeasurement(vision.getPose2d(), time);
swerveDriveTrain.addVisionMeasurement(vision.lastVisionPose, time);
}
// if(e.isPresent())
@@ -392,6 +392,11 @@ public class SwerveDrive extends Subsystem {
setToSlow();
}
public void startTurboPeriod() {
tmp_gear_index = gear_index;
setToTurbo();
}
public void endSlowPeriod() {
setPercentOutput(SwerveDriveConstants.GEARS[tmp_gear_index]);
gear_index = tmp_gear_index;