PLS5618/robot-2024
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Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

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This commit is contained in:
samuel desharnais 2024-02-20 19:56:11 -05:00
commit 2b5e1ccb1a
1 changed files with 1 additions and 7 deletions
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8
src/main/java/frc/robot/subsystem/Drive.java
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@ -20,12 +20,6 @@ import swervelib.parser.SwerveParser;
public class Drive extends SubsystemBase { public class Drive extends SubsystemBase {
/** Creates a new Drive. */ /** Creates a new Drive. */
public static final boolean kFrontLeftDriveMotorReversed = true;
public static final boolean kBackLeftDriveMotorReversed = true;
public static final boolean kFrontRightDriveMotorReversed = false;
public static final boolean kBackRightDriveMotorReversed = true;
SwerveDrive swerveDrive; SwerveDrive swerveDrive;
File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve"); File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
@ -41,7 +35,7 @@ public class Drive extends SubsystemBase {
e.printStackTrace(); e.printStackTrace();
} }
AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig( AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig(
new PIDConstants(5,0,0), new PIDConstants(5,0,0), 15, new PIDConstants(0.4,0,0.01), new PIDConstants(0.4,0,0.01), 1,
0.275, 0.275,
new ReplanningConfig() new ReplanningConfig()
), ()->{ ), ()->{