sdesharnais/Rebuilt-2026
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Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

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samuel desharnais
2026-04-01 19:13:26 -04:00
parent cdca0230a4 56b28100df
commit 7b734cc046
1 changed files with 2 additions and 2 deletions
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4
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
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@@ -35,7 +35,7 @@ public class GrimperReservoir extends Command {
double pigeonAngle;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
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()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -50,7 +50,7 @@ public class GrimperReservoir extends Command {
// Called when the command is initially scheduled.
@Override
public void initialize() {
// alliance = DriverStation.getAlliance();
alliance = DriverStation.getAlliance();
// if(drivetrain.Equipe()){
// drivetrain.getPigeon2().setYaw(drivetrain.getPigeon2().getYaw().getValueAsDouble()+180);
// }