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lidar align works

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This commit is contained in:
Michael Mikovsky
2025-01-30 19:28:46 -07:00
parent 4afbf1656f
commit e379794da1
5 changed files with 22 additions and 9 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+2
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@@ -12,6 +12,7 @@ import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.ctre.phoenix6.swerve.SwerveRequest.ForwardPerspectiveValue;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
@@ -149,6 +150,7 @@ public class SwerveDrive extends Subsystem {
.withVelocityX(leftStick.getX() * speedAdjust)
.withVelocityY(leftStick.getY() * speedAdjust)
.withRotationalRate(rightStick.getX() * rotSpeedAdjust));
// .withForwardPerspective(ForwardPerspectiveValue.OperatorPerspective));
SmartDashboard.putBoolean("drift correction", false);
} else {
var ctrl = new SwerveRequest.FieldCentricFacingAngle()