remove a couple things you know how it is

Patribots4738 · Dec 7, 2023 · 3724e71 · 3724e71
1 parent 295adf4
commit 3724e71
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Showing 4 changed files with 10 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -77,7 +77,7 @@ private void configureButtonBindings() {
         Make a trigger so then when the current GAME_MODE is equal to AUTONOMOUS then set the drive speed to MAX_SPEED_METERS_PER_SECOND
 
         // (Explain this)
-        driver.start().or(driver.back()).onTrue(
+        driver.y().or(driver.x()).onTrue(
                 Commands.runOnce(() -> swerve.resetOdometry(
                         new Pose2d(
                                 swerve.getPose().getTranslation(),
@@ -87,6 +87,8 @@ private void configureButtonBindings() {
                                                 : 180))),
                         swerve));
 
+        when the driver hits the "x" button, use the setWheelsX method in swerve.java
+
         Create a trigger like the one above so that while the "a" button is been pressed, set the drive speed to ALIGNMENT_SPEED
         and when the "a" button has not been pressed, set the drive speed to MAX_TELEOP_SPEED_METERS_PER_SECOND
 

diff --git a/src/main/java/frc/robot/commands/Drive.java b/src/main/java/frc/robot/commands/Drive.java
@@ -66,11 +66,7 @@ public void execute() {
             x *= -1;
             y *= -1;
         }
-        swerve.drive(
-                x,
-                y,
-                rotationSupplier.getAsDouble(),
-                fieldRelativeSupplier.getAsBoolean());
+        use the following variables to drive the swerve using swerve.drive
     }
 
     @Override

diff --git a/src/main/java/frc/robot/commands/SwerveTrajectory.java b/src/main/java/frc/robot/commands/SwerveTrajectory.java
@@ -38,7 +38,7 @@ public void execute() {
 
         PathPlannerState state = (PathPlannerState) trajectory.sample(elapsedTime.get());
 
-        // Use elapsedTime as a refrence for where we NEED to be
+        // Use elapsedTime as a reference for where we NEED to be
         // Then, sample the position and rotation for that time,
         // And calculate the ChassisSpeeds required to get there
         ChassisSpeeds speeds = AutoConstants.HDC.calculate(

diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java
@@ -147,12 +147,11 @@ public void drive(double xSpeed, double ySpeed, double rotSpeed, boolean fieldRe
         ySpeed *= (DriveConstants.MAX_SPEED_METERS_PER_SECOND * speedMultiplier);
         rotSpeed *= (DriveConstants.DYNAMIC_MAX_ANGULAR_SPEED * speedMultiplier);
 
-        SwerveModuleState[] swerveModuleStates = DriveConstants.DRIVE_KINEMATICS.toSwerveModuleStates(
-                fieldRelative
-                        ? discretize(ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rotSpeed,
-                                getPose().getRotation()))
-                        : discretize(new ChassisSpeeds(xSpeed, ySpeed, rotSpeed)));
+        SwerveModuleState[] swerveModuleStates = 
+            DriveConstants.DRIVE_KINEMATICS.toSwerveModuleStates(
 
+            );
+
         setModuleStates(swerveModuleStates);
     }
 
@@ -206,7 +205,7 @@ public void setWheelsX() {
         rearRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
     }
 
-    public Command getSetWheelsX() {
+    public Command getSetWheelsXCommand() {
         return runOnce(this::setWheelsX);
     }