Team_2648/2026-Robot-Code
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FINALLY FIXED SWERVE

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Bradley Bickford
2026-01-31 17:03:35 -05:00
parent 95108b7da7
commit 66049f1357
3 changed files with 23 additions and 17 deletions
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12
src/main/java/frc/robot/RobotContainer.java
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@@ -50,10 +50,14 @@ public class RobotContainer {
)
);
driver.x().whileTrue(drivetrain.runFrontLeft());
driver.y().whileTrue(drivetrain.runFrontRight());
driver.a().whileTrue(drivetrain.runRearLeft());
driver.b().whileTrue(drivetrain.runRearRight());
driver.start().and(driver.x()).whileTrue(drivetrain.runFrontLeft(1, 0));
driver.start().and(driver.y()).whileTrue(drivetrain.runFrontRight(1, 0));
driver.start().and(driver.a()).whileTrue(drivetrain.runRearLeft(1, 0));
driver.start().and(driver.b()).whileTrue(drivetrain.runRearRight(1, 0));
driver.start().negate().and(driver.x()).whileTrue(drivetrain.runFrontLeft(0, 45));
driver.start().negate().and(driver.y()).whileTrue(drivetrain.runFrontRight(0, 45));
driver.start().negate().and(driver.a()).whileTrue(drivetrain.runRearLeft(0, 45));
driver.start().negate().and(driver.b()).whileTrue(drivetrain.runRearRight(0, 45));
driver.rightBumper().whileTrue(drivetrain.setX());
//drivetrain.setDefaultCommand(drivetrain.disableOutputs());