Team_2648/2024_Robot_Code
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Minor shuffleboard changes

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This commit is contained in:
Bradley Bickford 2024-03-07 17:16:51 -05:00
parent 40e53305e0
commit 4e2cb68c52
1 changed files with 14 additions and 0 deletions
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14
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -16,6 +16,8 @@ import java.util.function.DoubleSupplier;
import com.kauailabs.navx.frc.AHRS; import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.SPI; import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import frc.robot.constants.DrivetrainConstants; import frc.robot.constants.DrivetrainConstants;
import frc.robot.utilities.MAXSwerveModule; import frc.robot.utilities.MAXSwerveModule;
import frc.robot.utilities.SwerveUtils; import frc.robot.utilities.SwerveUtils;
@ -91,6 +93,18 @@ public class Drivetrain extends SubsystemBase {
m_currentTranslationDir = 0.0; m_currentTranslationDir = 0.0;
m_currentTranslationMag = 0.0; m_currentTranslationMag = 0.0;
m_prevTime = WPIUtilJNI.now() * 1e-6; m_prevTime = WPIUtilJNI.now() * 1e-6;
Shuffleboard.getTab("NavX")
.addDouble("YAW", m_gyro::getAngle)
.withPosition(0, 0)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kTextView);
Shuffleboard.getTab("NavX")
.addDouble("Offset", m_gyro::getAngleAdjustment)
.withPosition(0, 1)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kTextView);
} }
@Override @Override