Team4388/2026KPopRobotHunters
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Shikhar
2026-02-24 22:17:58 -07:00
parent a09a039cb8
commit 3197a3dce0
3 changed files with 13 additions and 7 deletions
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src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
View File
@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 79;
public static final String GIT_SHA = "ff0cff819cc7280a353d7ce86999efe16661f33b";
public static final String GIT_DATE = "2026-02-23 16:58:14 MST";
public static final String GIT_BRANCH = "operator-controls";
public static final String BUILD_DATE = "2026-02-23 17:28:16 MST";
public static final long BUILD_UNIX_TIME = 1771892896573L;
public static final int GIT_REVISION = 84;
public static final String GIT_SHA = "a09a039cb8a5bef1ee897d3307355d975eefd232";
public static final String GIT_DATE = "2026-02-24 16:46:17 MST";
public static final String GIT_BRANCH = "reveal-night";
public static final String BUILD_DATE = "2026-02-24 18:42:57 MST";
public static final long BUILD_UNIX_TIME = 1771983777848L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+6
View File
@@ -4,6 +4,8 @@
package frc4388.robot.subsystems.swerve;
import static edu.wpi.first.units.Units.Rotations;
import java.util.function.Supplier;
import org.littletonrobotics.junction.AutoLogOutput;
@@ -245,6 +247,10 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
if(!TimesNegativeOne.isRed) {
leftStick.rotateBy(new Rotation2d(Math.PI/2.));
}
io.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX() * speedAdjust)
.withVelocityY(leftStick.getY() * speedAdjust)