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Swerve calibration, L2, Autos

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This commit is contained in:
Michael Mikovsky
2025-03-04 19:46:52 -07:00
parent 6762ed16e6
commit 7dc6105145
7 changed files with 34 additions and 50 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2
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@@ -184,10 +184,12 @@ public class SwerveDrive extends Subsystem {
public void driveFine(Translation2d leftStick, Translation2d rightStick, double percentOutput) {
stopped = false;
// Create robot-relative speeds.
if (rightStick.getNorm() > 0.1) rightStick = rightStick.times(0);
swerveDriveTrain.setControl(new SwerveRequest.RobotCentric()
.withVelocityX(leftStick.getX() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
.withVelocityY(-leftStick.getY() * SwerveDriveConstants.MAX_SPEED_MEETERS_PER_SEC * percentOutput)
.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
}