Team4388/RiseOfRidgebotics2020
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initial testing

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Elijah Price
2020-02-25 17:12:56 -07:00
parent 29a2dae680
commit b741417e0b
4 changed files with 56 additions and 28 deletions
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src/main/java/frc4388/robot/commands/DriveWithJoystick.java
+4 -2
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@@ -48,12 +48,14 @@ public class DriveWithJoystick extends CommandBase {
moveOutput = Math.cos(1.571*moveInput)-1;
}
double cosMultiplier = .45;
double cosMultiplier = .55;
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);