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Add Lidar subsystem

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This commit is contained in:
Michael Mikovsky
2025-01-18 15:08:23 -07:00
parent e4ed00b401
commit 88508ef9c4
4 changed files with 87 additions and 1 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
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@@ -130,6 +130,7 @@ 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());
if (SwerveDriveConstants.INVERT_ROTATION) rightStick.times(-1);