Team4388/RiseOfRidgebotics2020
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Odometry fixes (but not really)

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- Seems to only work on the left motor in low gear...no idea why
This commit is contained in:
Keenan D. Buckley
2020-02-25 17:47:47 -07:00
parent ac82fdad12
commit 0541a2463c
4 changed files with 29 additions and 13 deletions
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src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+3 -1
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@@ -52,8 +52,10 @@ public class DriveWithJoystick extends CommandBase {
double deadzone = .2;
if (steerInput > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
} else {
} else if (steerInput < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
} else {
steerOutput = 0;
}
m_drive.driveWithInput(moveOutput, steerOutput);