Team4388/2026KPopRobotHunters
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Shikhar
2026-02-27 19:37:21 -07:00
parent 73b7160205
commit 836a98815a
17 changed files with 521 additions and 80 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+6 -1
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@@ -343,7 +343,12 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
Rotation2d heading = new Rotation2d(rightStick.getX(), rightStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
heading = heading.rotateBy(Rotation2d.fromDegrees(-90));
if(TimesNegativeOne.isRed) {
heading = heading.rotateBy(Rotation2d.fromDegrees(-90));
} else {
heading = heading.rotateBy(Rotation2d.fromDegrees(90));
}
rotTarget = heading.getDegrees();
driveFieldAngle(leftStick, heading);