Team4388/RiseOfRidgebotics2020
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Separated Steer and Drive Factor

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This commit is contained in:
Aarav Shah
2021-11-29 17:13:16 -07:00
parent 960959a4b5
commit 76eae268a0
2 changed files with 5 additions and 2 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -1
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@@ -49,6 +49,7 @@ public final class Constants {
changeHandlers.forEach(c -> c.accept(mode));
CommandScheduler.getInstance().enable();
DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR = DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR_MODES[i];
DriveConstants.STEER_WITH_JOYSTICK_FACTOR = DriveConstants.STEER_WITH_JOYSTICK_FACTOR_MODES[i];
IntakeConstants.INTAKE_SPEED = IntakeConstants.INTAKE_SPEED_MODES[i];
StorageConstants.STORAGE_SPEED = StorageConstants.STORAGE_SPEED_MODES[i];
}
@@ -101,7 +102,9 @@ public final class Constants {
public static final int DRIVE_CRUISE_VELOCITY = 30000;
public static final int DRIVE_ACCELERATION = 23000;
private static final double[] DRIVE_WITH_JOYSTICK_FACTOR_MODES = { 1.0, 0.8 };
private static final double[] STEER_WITH_JOYSTICK_FACTOR_MODES = { 1.0, 0.9 };
public static double STEER_WITH_JOYSTICK_FACTOR;
private static final double[] DRIVE_WITH_JOYSTICK_FACTOR_MODES = { 1.0, 0.7 };
public static double DRIVE_WITH_JOYSTICK_FACTOR;
public static final Gains DRIVE_DISTANCE_GAINS_HIGH = new Gains(0.1, 0.0, 0.0, 0.0, 0, 0.5);
src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java
+1 -1
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@@ -43,7 +43,7 @@ public class DriveWithJoystick extends CommandBase {
@Override
public void execute() {
double moveInput = m_controller.getLeftYAxis() * DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR;
double steerInput = m_controller.getRightXAxis() * DriveConstants.DRIVE_WITH_JOYSTICK_FACTOR;
double steerInput = m_controller.getRightXAxis() * DriveConstants.STEER_WITH_JOYSTICK_FACTOR;
double moveOutput = Math.copySign(1 - Math.cos(Math.PI * moveInput / 2), moveInput);
double cosMultiplier = m_pneumatics.m_isSpeedShiftHigh ? DriveConstants.COS_MULTIPLIER_HIGH : DriveConstants.COS_MULTIPLIER_LOW;
double deadzone = 0.1;