Team4388/2026KPopRobotHunters
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Merge branch 'DrivingTryouts' of https://github.com/Team4388/2026KPopRobotHunters into DrivingTryouts

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SHikhar
2026-02-25 17:14:17 -07:00
parent 05fbd573be b0e41df494
commit df77593c46
2 changed files with 32 additions and 7 deletions
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src/main/java/frc4388/robot/constants/BuildConstants.java
+7 -7
View File
@@ -7,13 +7,13 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 7;
public static final String GIT_SHA = "24fdd610c9256b4599b7d29ebb1a3acd14cc38b7";
public static final String GIT_DATE = "2026-01-13 18:19:47 MST";
public static final String GIT_BRANCH = "master";
public static final String BUILD_DATE = "2026-01-13 18:58:23 MST";
public static final long BUILD_UNIX_TIME = 1768355903336L;
public static final int DIRTY = 1;
public static final int GIT_REVISION = 8;
public static final String GIT_SHA = "a27cde3f84484e652e5dcc1fd2f432871a2f0245";
public static final String GIT_DATE = "2026-01-13 19:41:42 MST";
public static final String GIT_BRANCH = "DrivingTryouts";
public static final String BUILD_DATE = "2026-02-17 17:25:18 MST";
public static final long BUILD_UNIX_TIME = 1771374318460L;
public static final int DIRTY = 0;
private BuildConstants(){}
}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+25
View File
@@ -275,6 +275,31 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
io.setControl(ctrl);
}
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();
driveFieldAngle(leftStick, heading);
}
}
public void driveFieldAngle(Translation2d leftStick, Rotation2d heading) {
if (leftStick.getNorm() < 0.05) // if no imput and the swerve drive is still going:
stopModules(); // stop the swerve