From 76eae268a081dec37c1a202268162336b02f337b Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Mon, 29 Nov 2021 17:13:16 -0700 Subject: [PATCH] Separated Steer and Drive Factor --- src/main/java/frc4388/robot/Constants.java | 5 ++++- .../java/frc4388/robot/commands/drive/DriveWithJoystick.java | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 3b45ce5..48b1159 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -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); diff --git a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java index 7d72792..782e59f 100644 --- a/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java +++ b/src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java @@ -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;