Team4388/2026KPopRobotHunters
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This commit is contained in:
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/subsystems/swerve/SwerveDrive.java
+6
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@@ -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)