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

After-cougars-scrimmage

Browse Source
This commit is contained in:
Michael Mikovsky
2025-02-24 17:10:12 -07:00
parent 460d4fbbd4
commit 761a56cf0f
6 changed files with 137 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+13 -3
View File
@@ -141,10 +141,20 @@ public class SwerveDrive extends Subsystem {
return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(Rotation2d.fromDegrees(SwerveDriveConstants.FORWARD_OFFSET));
if (SwerveDriveConstants.INVERT_X) leftStick = new Translation2d(-leftStick.getX(), leftStick.getY());
if (SwerveDriveConstants.INVERT_Y) leftStick = new Translation2d(leftStick.getX(), -leftStick.getY());
Optional<Alliance> alliance = DriverStation.getAlliance();
if(!alliance.isEmpty()){
if (alliance.get() == Alliance.Red)
leftStick = new Translation2d(-leftStick.getX(), leftStick.getY());
else
leftStick = new Translation2d(leftStick.getX(), -leftStick.getY());
// if (alliance.get() != Alliance.Red) leftStick = new Translation2d(leftStick.getX(), -leftStick.getY());
}
if (SwerveDriveConstants.INVERT_ROTATION) rightStick.times(-1);
stopped = false;
if (fieldRelative) {
// ! drift correction