Team_2648/2025_Robot_Code
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exponents on joystick now implemented correctly

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This commit is contained in:
Tylr-J42 2025-05-19 19:06:48 -04:00
parent 68da3c630c
commit fa34ef00fe
3 changed files with 8 additions and 4 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@ -111,8 +111,8 @@ public class RobotContainer {
drivetrain.setDefaultCommand( drivetrain.setDefaultCommand(
drivetrain.drive( drivetrain.drive(
() -> Math.pow(driver.getLeftY(), 3), () -> driver.getLeftY(),
() -> Math.pow(driver.getLeftX(), 3), () -> driver.getLeftX(),
() -> driver.getRightX(), () -> driver.getRightX(),
() -> true () -> true
) )

2
src/main/java/frc/robot/constants/OIConstants.java
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@ -9,4 +9,6 @@ public class OIConstants {
public static final String kAutoTab = "Auto Tab"; public static final String kAutoTab = "Auto Tab";
public static final String kSensorsTab = "Sensors Tab"; public static final String kSensorsTab = "Sensors Tab";
public static final String kApriltagTab = "Apriltag Tab"; public static final String kApriltagTab = "Apriltag Tab";
public static final double kJoystickExponential = 3;
} }

6
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -323,8 +323,10 @@ public class Drivetrain extends SubsystemBase {
*/ */
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) { public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
// Convert the commanded speeds into the correct units for the drivetrain // Convert the commanded speeds into the correct units for the drivetrain
double xSpeedDelivered = xSpeed * DrivetrainConstants.kMaxSpeedMetersPerSecond; double p = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
double ySpeedDelivered = ySpeed * DrivetrainConstants.kMaxSpeedMetersPerSecond;
double xSpeedDelivered = xSpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
double ySpeedDelivered = ySpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
double rotDelivered = rot * DrivetrainConstants.kMaxAngularSpeed; double rotDelivered = rot * DrivetrainConstants.kMaxAngularSpeed;
var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates( var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(