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add input checking

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C4llSiqn
2025-01-07 08:38:21 -07:00
parent f27ca5aab7
commit 31dc2d9f8d
1 changed files with 7 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+7 -1
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@@ -70,9 +70,15 @@ public class SwerveDrive extends Subsystem {
} }
public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) { public void driveWithInput(Translation2d leftStick, Translation2d rightStick, boolean fieldRelative) {
if (rightStick.getNorm() < 0.05 && leftStick.getNorm() < 0.05 && stopped == false) // if no imput and the swerve drive is still going:
swerveDriveTrain.setControl(new SwerveRequest.SwerveDriveBrake()); // stop the swerve
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(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
if (fieldRelative) { if (fieldRelative) {
// if (rightStick.getNorm() > 0.05 &&
swerveDriveTrain.setControl(new SwerveRequest.FieldCentric() swerveDriveTrain.setControl(new SwerveRequest.FieldCentric()
.withVelocityX(leftStick.getX()*speedAdjust) .withVelocityX(leftStick.getX()*speedAdjust)
.withVelocityY(leftStick.getY()*speedAdjust) .withVelocityY(leftStick.getY()*speedAdjust)