Team4388/Swerve-Drive
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This commit is contained in:
‮Zach Wilke
2021-12-02 17:36:28 -07:00
parent 32e1cb39c8
commit 293aa25a0f
2 changed files with 7 additions and 1 deletions
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src/main/java/frc4388/robot/Constants.java
+1
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@@ -31,6 +31,7 @@ public final class Constants {
public static final class SwerveDriveConstants { public static final class SwerveDriveConstants {
public static final double ROTATION_SPEED = 0.1; public static final double ROTATION_SPEED = 0.1;
public static final double WHEEL_SPEED = 0.1;
public static final double WIDTH = 0; public static final double WIDTH = 0;
public static final double HEIGHT = 0; public static final double HEIGHT = 0;
public static final int LEFT_FRONT_STEER_CAN_ID = 0; public static final int LEFT_FRONT_STEER_CAN_ID = 0;
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+6 -1
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@@ -79,7 +79,12 @@ public class SwerveDrive
// Back right module state // Back right module state
SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(m_rightBackEncoder.getPosition())); SwerveModuleState rightBack = SwerveModuleState.optimize(moduleStates[3], new Rotation2d(m_rightBackEncoder.getPosition()));
m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + lefBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED);
} }
// public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate) // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)