Team4388/2026KPopRobotHunters
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mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
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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/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = ""; public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 24; public static final int GIT_REVISION = 28;
public static final String GIT_SHA = "5d381731689602f5fac161f1552170003ef30c14"; public static final String GIT_SHA = "5f4d7887ffc93ef535cef23511da086cd7f6d8bd";
public static final String GIT_DATE = "2026-01-29 18:07:19 MST"; public static final String GIT_DATE = "2026-01-31 15:33:14 MST";
public static final String GIT_BRANCH = "Subsystem-Boilerplate"; public static final String GIT_BRANCH = "Subsystem-Boilerplate";
public static final String BUILD_DATE = "2026-01-29 19:27:45 MST"; public static final String BUILD_DATE = "2026-01-31 21:37:04 MST";
public static final long BUILD_UNIX_TIME = 1769740065495L; public static final long BUILD_UNIX_TIME = 1769920624950L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
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){ public void driveIntake(Translation2d leftStick){
if (invert){ // if (invert){
Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY()); // Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
driveFieldAngle(stick, heading); // driveFieldAngle(stick, heading);
} else{ // } else{
driveFieldAngle(leftStick, heading); // 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);
} }