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driveIntake

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This commit is contained in:
Shikhar
2026-01-31 21:38:10 -07:00
parent 5f4d7887ff
commit dc33af165d
2 changed files with 19 additions and 12 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+14 -7
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@@ -287,14 +287,21 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
}
public void driveIntake(Translation2d leftStick, Rotation2d heading, boolean invert){
if (invert){
Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
driveFieldAngle(stick, heading);
public void driveIntake(Translation2d leftStick){
// if (invert){
// Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
// driveFieldAngle(stick, heading);
} else{
driveFieldAngle(leftStick, heading);
}
// } else{
// driveFieldAngle(leftStick, heading);
// }
double speed = leftStick.getNorm();
Rotation2d heading = leftStick.getAngle();
// Only drive forward in robot direction (no strafe)
Translation2d forwardOnly = new Translation2d(speed, 0.0);
driveFieldAngle(forwardOnly, heading);
}