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Some values need updating: Motor channels Encoder channels DistancePerPulse
Make build.gradle errorless
Add swerve drive subsystems
It is bound to button 1 on the Joystick
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actually, its not complete. My bad |
Includes code so that the robot can update its PID. Also allows the robot to offset the encoders such that they will be field oriented (assuming that the robot starts facing the field)
…trolled-swerve-drive
7 driver controlled swerve drive
Changed it so that the new bearing will only update if the joystick points in a direction that would probably result in a new snap heading.
I changed it such that the encoder will actually tell you the distance moved since the last time it was called, not the total distance moved as this would be problematic if you were using two different commands during that time. I have also used two different constants, distancePerRotation meaning the circumference of the motor. movementPerRotation meaning the actual distance travelled by the robot when the move motors rotate once.
Update snap-to-90deg code with swerve drive
reload this to use the robotBearingController that has a continuous input
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Just finished the code.
Now I need someone to review it.
The button runs as long as you are holding down on button 1 of the joystick