Team4388/Shirt-Cannon
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more drive code

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This commit is contained in:
C4llSiqn
2023-05-02 16:43:05 -06:00
parent f163fcd04f
commit a26a0bf164
1 changed files with 16 additions and 12 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+16 -12
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@@ -33,22 +33,26 @@ public class Drive extends SubsystemBase {
public void hotwireDrive(double xStick, double yStick) {
// deadzone constraints
double deadzone = 0.1d;
final double deadzone = 0.1d;
if (xStick <= (0.5+deadzone) && xStick >= (0.5-deadzone)) {xStick = 0.5d;}
if (yStick <= (0.5+deadzone) && yStick >= (0.5-deadzone)) {yStick = 0.5d;}
if (Math.abs(xStick) < deadzone) xStick = 0;
if (Math.abs(yStick) < deadzone) yStick = 0;
// if stick forword, drive both motors forward
double leftSpeed = -2 * (yStick - 0.5d);
double rightSpeed = -2 * (yStick - 0.5d);
double maximum = Math.max(xStick, yStick);
double total = xStick + yStick;
double difference = yStick - xStick;
// if stick right turn right
leftSpeed -= 2 * (xStick - 0.5d);
rightSpeed += 2 * (xStick - 0.5d);
double leftSpeed, rightSpeed;
if (xStick >= 0) {
leftSpeed = rotate >= 0 ? maximum : total;
rightSpeed = rotate >= 0 ? difference : maximum;
} else {
leftSpeed = rotate >= 0 ? total : -maximum;
rightSpeed = rotate >= 0 ? -maximum : difference;
}
//set the motors
m_leftMotor.set(-leftSpeed);
m_rightMotor.set(rightSpeed);
leftMotor.set(-leftSpeed);
rightMotor.set(leftSpeed);
}
public void tankDrive(double leftSpeed, double rightSpeed) {