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Fix watchdog feeds and steer output curving

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This commit is contained in:
Keenan D. Buckley
2020-02-25 19:15:15 -07:00
parent b741417e0b
commit 7339658077
2 changed files with 7 additions and 7 deletions
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src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+2 -2
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@@ -51,9 +51,9 @@ public class DriveWithJoystick extends CommandBase {
double cosMultiplier = .55;
double deadzone = .2;
if (steerInput > 0){
steerOutput = -cosMultiplier*Math.cos(1.571*steerInput)+(cosMultiplier+deadzone);
steerOutput = -(cosMultiplier - deadzone) * Math.cos(1.571*steerInput) + cosMultiplier;
} else if (steerInput < 0) {
steerOutput = cosMultiplier*Math.cos(1.571*steerInput)-(cosMultiplier+deadzone);
steerOutput = (cosMultiplier - deadzone) * Math.cos(1.571*steerInput) - cosMultiplier;
} else {
steerOutput = 0;
}