Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-08 16:28:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Adding Snake drive for driving

Browse Source
This commit is contained in:
SHikhar
2026-02-20 19:49:34 -07:00
parent a27cde3f84
commit 05fbd573be
2 changed files with 37 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+13
View File
@@ -164,6 +164,19 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(
() -> {
m_robotSwerveDrive.driveIntakeOrientation(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight()
);
}, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> {
m_robotSwerveDrive.softStop();
}));
}
/**
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+24
View File
@@ -234,6 +234,30 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
.withVelocityY(leftStick.getY() * speedAdjust)
.withTargetDirection(rightStick.getAngle()));
}
public void driveIntakeOrientation(Translation2d leftStick, Translation2d rightStick){
// if (invert){
// Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
// driveFieldAngle(stick, heading);
// } else{
// driveFieldAngle(leftStick, heading);
// }
double speed = rightStick.getNorm();
if(speed < 0.3) {
driveWithInput(leftStick, new Translation2d(), true);
} else {
Rotation2d heading = new Rotation2d(rightStick.getX(), rightStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
heading = heading.rotateBy(Rotation2d.fromDegrees(90));
rotTarget = heading.getDegrees();
driveFieldAngle(leftStick, heading);
}
}
public void driveRelativeAngle(Translation2d leftStick, Rotation2d heading) {