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/RobotContainer.java
+2 -1
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@@ -179,7 +179,8 @@ public class RobotContainer {
.whileTrue(new RunCommand( .whileTrue(new RunCommand(
() -> { () -> {
m_robotSwerveDrive.driveIntake( m_robotSwerveDrive.driveIntake(
getDeadbandedDriverController().getLeft() getDeadbandedDriverController().getLeft(),
false
); );
}, m_robotSwerveDrive)) }, m_robotSwerveDrive))
.onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive)); .onFalse(new InstantCommand(() -> m_robotSwerveDrive.softStop(), m_robotSwerveDrive));
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 = 31; public static final int GIT_REVISION = 32;
public static final String GIT_SHA = "9fcc5ffe9f52bb7c311e0cb573061158ec2794ce"; public static final String GIT_SHA = "7b46b7a1a30820e2e754c8b8335bd4207dcddf77";
public static final String GIT_DATE = "2026-02-02 19:46:18 MST"; public static final String GIT_DATE = "2026-02-03 17:36:09 MST";
public static final String GIT_BRANCH = "Subsystem-Boilerplate"; public static final String GIT_BRANCH = "Subsystem-Boilerplate";
public static final String BUILD_DATE = "2026-02-03 17:30:18 MST"; public static final String BUILD_DATE = "2026-02-03 18:04:39 MST";
public static final long BUILD_UNIX_TIME = 1770165018277L; public static final long BUILD_UNIX_TIME = 1770167079826L;
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
+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){ // if (invert){
// Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY()); // Translation2d stick = new Translation2d(-leftStick.getX(), -leftStick.getY());
// driveFieldAngle(stick, heading); // driveFieldAngle(stick, heading);
@@ -298,11 +298,22 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
// } // }
double speed = leftStick.getNorm(); 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);
}
} }