From c6d1b960063f525b6e18f4f9dddbc044e56cad8c Mon Sep 17 00:00:00 2001 From: NoahLacks63 Date: Fri, 28 Feb 2025 16:17:09 +0000 Subject: [PATCH] made exponential drive work on diagonals --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 19e02bc..3ba2d1f 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -109,8 +109,8 @@ public class RobotContainer { drivetrain.setDefaultCommand( drivetrain.drive( - () -> Math.pow(driver.getLeftY(), 3), - () -> Math.pow(driver.getLeftX(), 3), + () -> driver.getLeftY() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3), //Math.pow(driver.getLeftY(), 3), + () -> driver.getLeftX() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3), // Math.pow(driver.getLeftX(), 3), driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3) () -> true )