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This commit is contained in:
Antoine PerreaultE
2026-04-01 19:11:30 -04:00
parent db935eceda
commit 56b28100df
1 changed files with 1 additions and 1 deletions
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src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
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@@ -35,7 +35,7 @@ public class GrimperReservoir extends Command {
double pigeonAngle; double pigeonAngle;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
Optional<Alliance> alliance = DriverStation.getAlliance(); Optional<Alliance> alliance;
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric() private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); .withDriveRequestType(DriveRequestType.OpenLoopVoltage);