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Drive input orientation

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This commit is contained in:
Michael Mikovsky
2026-02-14 12:49:33 -08:00
parent abc3dc6b14
commit 736d7ef823
6 changed files with 43 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+1 -1
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@@ -31,7 +31,7 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3*0);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0);
public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10);
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+5 -4
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@@ -62,7 +62,7 @@ public class Shooter extends SubsystemBase {
public void setShooterReady() {
// if(this.mode == ShooterMode.NotReady) {
this.mode = ShooterMode.Ready;
this.mode = ShooterMode.Shooting;
// }
}
@@ -96,7 +96,7 @@ public class Shooter extends SubsystemBase {
this.mode = ShooterMode.Shooting;
// this.mode = ShooterMode.Shooting;
// TODO: get if the robot is within the angle of the hub
@@ -147,7 +147,8 @@ public class Shooter extends SubsystemBase {
// ShooterMode.NotReady
// );
// }
}
switch (mode) {
case Shooting:
@@ -165,4 +166,4 @@ public class Shooter extends SubsystemBase {
}
}
}}
}
src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+3 -3
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@@ -24,10 +24,10 @@ public class ShooterConstants {
// public static final AngularVelocity INDEXER_ACTIVE_VELOCITY = RotationsPerSecond.of(10);
// public static final AngularVelocity INDEXER_INACTIVE_VELOCITY = RotationsPerSecond.of(0.0);
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", 0);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0);
public static final ConfigurableDouble SHOOTER_ACTIVE_VELOCITY = new ConfigurableDouble("Shooter Active Velocity", -35);
public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", -10);
public static final ConfigurableDouble INDEXER_FORWARD_VELOCITY = new ConfigurableDouble("Indexer FWD Velocity", 10);
public static final ConfigurableDouble INDEXER_FORWARD_VELOCITY = new ConfigurableDouble("Indexer FWD Velocity", -10);
public static final ConfigurableDouble INDEXER_REVERSE_VELOCITY = new ConfigurableDouble("Indexer reverse Velocity", 10);
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+26 -5
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@@ -306,12 +306,33 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
Rotation2d heading = new Rotation2d(leftStick.getX(), -leftStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
// if (invertRotation){
heading = heading.rotateBy(Rotation2d.fromDegrees(270));
// }
heading = heading.rotateBy(Rotation2d.fromDegrees(270));
driveFieldAngle(leftStick, heading);
}
}
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();
// Only drive forward in robot direction (no strafe)
// Translation2d forwardOnly = new Translation2d(speed, 0.0);
driveFieldAngle(leftStick, heading);
}
}