Team4388/2026KPopRobotHunters
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Improve PIDs and such

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This commit is contained in:
Michael Mikovsky
2026-02-21 12:54:16 -08:00
parent 9c7159ba3b
commit eec454e99a
11 changed files with 95 additions and 60 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+2 -2
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@@ -50,7 +50,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
public double lastOdomSpeed;
public Pose2d initalPose2d = new Pose2d();
public Pose2d initalPose2d = new Pose2d(); // Mira aqui
public double rotTarget = 0.0;
@@ -330,7 +330,7 @@ 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));
heading = heading.rotateBy(Rotation2d.fromDegrees(-90));
rotTarget = heading.getDegrees();
driveFieldAngle(leftStick, heading);