PLS5618/robot-2024
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This commit is contained in:
Antoine PerreaultE 2024-02-29 16:15:45 -05:00
parent 7acecdd8a9
commit f8f03dde51
1 changed files with 3 additions and 2 deletions
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src/main/java/frc/robot/subsystem/Drive.java
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@ -25,7 +25,8 @@ public class Drive extends SubsystemBase {
SwerveDrive swerveDrive; SwerveDrive swerveDrive;
File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve"); File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
public AHRS gyroscope = new AHRS(); public AHRS Gyro = new AHRS();
public void drive(double x, double y, double zRotation){ public void drive(double x, double y, double zRotation){
swerveDrive.drive(new Translation2d(x*5, y*5), zRotation*4, true, false); swerveDrive.drive(new Translation2d(x*5, y*5), zRotation*4, true, false);
} }
@ -49,7 +50,7 @@ public class Drive extends SubsystemBase {
}, this); }, this);
} }
public void restgyroscope(){ public void restgyroscope(){
gyroscope.reset(); Gyro.reset();
} }
public SwerveModulePosition[] distance(){ public SwerveModulePosition[] distance(){
return swerveDrive.getModulePositions(); return swerveDrive.getModulePositions();