PLS5618/betabot-2024
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This commit is contained in:
Antoine PerreaultE
2024-01-10 19:03:59 -05:00
parent 2b57758fc5
commit 6c93d58f09
5 changed files with 6 additions and 19 deletions
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12
src/main/java/frc/robot/subsystems/Drive.java
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@@ -7,25 +7,15 @@ package frc.robot.subsystems;
import java.io.File;
import java.io.IOException;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;
import swervelib.SwerveDrive;
import swervelib.encoders.CanAndCoderSwerve;
import swervelib.parser.SwerveParser;
public class Drive extends SubsystemBase {
@@ -49,7 +39,7 @@ public class Drive extends SubsystemBase {
final CanAndCoderSwerve arrieregaucheangle = new CanAndCoderSwerve(Constants.arrieregaucheAngle);
final CanAndCoderSwerve arrieredroitangle = new CanAndCoderSwerve(Constants.arrieredroitAngle); */
public void drive(double x, double y, double zRotation){
swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
swerveDrive.drive(new Translation2d(x, y), zRotation, true, false);
}