Team4388/2026KPopRobotHunters
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Intake Finished

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This commit is contained in:
Michael Mikovsky
2026-02-03 17:06:32 -08:00
parent 7b46b7a1a3
commit f39bd20b9f
3 changed files with 23 additions and 11 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+16 -5
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@@ -288,7 +288,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
public void driveIntake(Translation2d leftStick){
public void driveIntake(Translation2d leftStick, boolean invertRotation){
// if (invert){
// Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
// driveFieldAngle(stick, heading);
@@ -298,11 +298,22 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
// }
double speed = leftStick.getNorm();
Rotation2d heading = leftStick.getAngle();
if(speed < 0.3) {
driveWithInput(leftStick, new Translation2d(), true);
} else {
// Only drive forward in robot direction (no strafe)
Translation2d forwardOnly = new Translation2d(speed, 0.0);
driveFieldAngle(forwardOnly, heading);
Rotation2d heading = new Rotation2d(leftStick.getX(), -leftStick.getY());//.r otateBy(Rotation2d.fromDegrees(90));
// if (invertRotation){
heading = heading.rotateBy(Rotation2d.fromDegrees(270));
// }
// Only drive forward in robot direction (no strafe)
// Translation2d forwardOnly = new Translation2d(speed, 0.0);
driveFieldAngle(leftStick, heading);
}
}