Team4388/2025RidgeScape
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add more to swervedrive subsystem and remove dead code.

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This commit is contained in:
C4llSiqn
2025-01-07 13:45:41 -07:00
parent 31dc2d9f8d
commit da2a1e46fa
5 changed files with 63 additions and 505 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -8
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@@ -54,12 +54,7 @@ public class RobotContainer {
/* Subsystems */
// private final LED m_robotLED = new LED();
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
m_robotMap.rightFront,
m_robotMap.leftBack,
m_robotMap.rightBack,
m_robotMap.gyro);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
/* Controllers */
private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
@@ -88,7 +83,7 @@ public class RobotContainer {
public RobotContainer() {
configureButtonBindings();
configureVirtualButtonBindings();
new DeferredBlock(() -> m_robotSwerveDrive.resetGyroFlip());
new DeferredBlock(() -> m_robotSwerveDrive.resetGyro());
DriverStation.silenceJoystickConnectionWarning(true);
// CameraServer.startAutomaticCapture();
@@ -148,7 +143,7 @@ public class RobotContainer {
// ? /* Driver Buttons */
DualJoystickButton(getDeadbandedDriverController(), getVirtualDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyroFlip()));
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
// ! /* Speed */
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final