Team4388/2026KPopRobotHunters
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Start on intake orientaiton

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Shikhar
2026-01-31 15:33:14 -07:00
parent 4e55a97652
commit 5f4d7887ff
1 changed files with 13 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+13
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@@ -264,6 +264,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
public void driveFieldAngle(Translation2d leftStick, Rotation2d heading) { public void driveFieldAngle(Translation2d leftStick, Rotation2d heading) {
if (leftStick.getNorm() < 0.05) // if no imput and the swerve drive is still going: if (leftStick.getNorm() < 0.05) // if no imput and the swerve drive is still going:
stopModules(); // stop the swerve stopModules(); // stop the swerve
leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset); leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis); leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
@@ -285,6 +286,18 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
// SmartDashboard.putBoolean("drift correction", true); // SmartDashboard.putBoolean("drift correction", true);
} }
public void driveIntake(Translation2d leftStick, Rotation2d heading, boolean invert){
if (invert){
Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
driveFieldAngle(stick, heading);
} else{
driveFieldAngle(leftStick, heading);
}
}
// Drive with the robot facing towards a specific position // Drive with the robot facing towards a specific position
public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos) { public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos) {