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Adding Snake drive for driving

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SHikhar
2026-02-20 19:49:34 -07:00
parent a27cde3f84
commit 05fbd573be
2 changed files with 37 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+24
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@@ -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) {