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fix: excise ballerinas from robot code

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C4llSiqn
2025-02-25 19:49:10 -07:00
parent 11861bf580
commit 57a9435c5d
10 changed files with 70 additions and 17 deletions
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src/main/java/frc4388/utility/TimesNegativeOne.java
+5 -3
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@@ -6,6 +6,7 @@ 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;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc4388.robot.Constants.SwerveDriveConstants;
// Class that holds weather the drivers sticks should be inverted
@@ -25,10 +26,11 @@ 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)));
ForwardOffset = Rotation2d.fromDegrees((SwerveDriveConstants.FORWARD_OFFSET + (isRed ? 0 : 0)));
SmartDashboard.putBoolean("Is red alliance", isRed);
}
public static double invert(double num, boolean invert){