Team_2648/2024_Robot_Code
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Updating some variables and formatting

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This commit is contained in:
Bradley Bickford 2024-01-13 18:51:11 -05:00
parent b289ce0097
commit da6df8b490
2 changed files with 14 additions and 12 deletions
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14
src/main/java/frc/robot/RobotContainer.java
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@ -47,12 +47,14 @@ public class RobotContainer {
// This is not to say you can't trigger or command chain here (see driveCardnial drivetrain example), // This is not to say you can't trigger or command chain here (see driveCardnial drivetrain example),
// but generally avoid any situation where the keyword "new" is involved // but generally avoid any situation where the keyword "new" is involved
private void configureBindings() { private void configureBindings() {
drivetrain.setDefaultCommand(drivetrain.teleopCommand( drivetrain.setDefaultCommand(
primary::getLeftX, drivetrain.teleopCommand(
primary::getLeftY, primary::getLeftX,
primary::getRightX, primary::getLeftY,
OIConstants.kTeleopDriveDeadband primary::getRightX,
)); OIConstants.kTeleopDriveDeadband
)
);
primary.povCenter().onFalse( primary.povCenter().onFalse(
drivetrain.driveCardinal( drivetrain.driveCardinal(

12
src/main/java/frc/robot/constants/DrivetrainConstants.java
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@ -32,15 +32,15 @@ public final class DrivetrainConstants {
public static final double kBackRightChassisAngularOffset = Math.PI / 2; public static final double kBackRightChassisAngularOffset = Math.PI / 2;
// SPARK MAX CAN IDs // SPARK MAX CAN IDs
public static final int kFrontLeftDrivingCanId = 1; public static final int kFrontLeftDrivingCanId = 8;
public static final int kRearLeftDrivingCanId = 3; public static final int kRearLeftDrivingCanId = 3;
public static final int kFrontRightDrivingCanId = 4; public static final int kFrontRightDrivingCanId = 2;
public static final int kRearRightDrivingCanId = 2; public static final int kRearRightDrivingCanId = 1;
public static final int kFrontLeftTurningCanId = 5; public static final int kFrontLeftTurningCanId = 4;
public static final int kRearLeftTurningCanId = 7; public static final int kRearLeftTurningCanId = 7;
public static final int kFrontRightTurningCanId = 8; public static final int kFrontRightTurningCanId = 6;
public static final int kRearRightTurningCanId = 6; public static final int kRearRightTurningCanId = 5;
public static final double kTurnToleranceDeg = 0; public static final double kTurnToleranceDeg = 0;
public static final double kTurnRateToleranceDegPerS = 0; public static final double kTurnRateToleranceDegPerS = 0;