Team_2648/2025_Robot_Code
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made exponential drive work on diagonals

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This commit is contained in:
NoahLacks63 2025-02-28 16:17:09 +00:00
parent c52a9ead0f
commit c6d1b96006
1 changed files with 2 additions and 2 deletions
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src/main/java/frc/robot/RobotContainer.java
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@ -109,8 +109,8 @@ public class RobotContainer {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
drivetrain.drive( drivetrain.drive(
() -> Math.pow(driver.getLeftY(), 3), () -> driver.getLeftY() * Math.pow(Math.abs(driver.getLeftY()) + Math.abs(driver.getLeftX()), 3), //Math.pow(driver.getLeftY(), 3),
() -> Math.pow(driver.getLeftX(), 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) driver::getRightX, //Math.signum(driver.getRightX()) * Math.pow(driver.getRightX(), 3)
() -> true () -> true
) )