sdesharnais/Rebuilt-2026
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mettre en 2026

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samuel desharnais
2026-03-26 17:45:25 -04:00
parent 69fe4a58d0
commit 0492c9a2c6
21 changed files with 798 additions and 121 deletions
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12
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -248,12 +248,12 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
@Override
public void periodic() {
if(pigeon2.getYaw().getValueAsDouble() > 360){
pigeon2.setYaw(pigeon2.getYaw().getValueAsDouble()-360);
}
else if(pigeon2.getYaw().getValueAsDouble() < 0){
pigeon2.setYaw(pigeon2.getYaw().getValueAsDouble()+360);
}
// if(getPigeon2().getYaw().getValueAsDouble() > 360){
// getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()-360);
// }
// else if(getPigeon2().getYaw().getValueAsDouble() < 0){
// getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
// }
/*
* Periodically try to apply the operator perspective.