Team_2648/2026-Robot-Code
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FINALLY FIXED SWERVE

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This commit is contained in:
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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24
src/main/java/frc/robot/subsystems/Drivetrain.java
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@@ -134,32 +134,32 @@ public class Drivetrain extends SubsystemBase {
Logger.recordOutput("Drivetrain/Heading", getHeading());
}
public Command runFrontLeft() {
public Command runFrontLeft(double staticSpeed, double staticAngleDegrees) {
return run(() -> {
frontLeft.setDesiredState(new SwerveModuleState(
1,
new Rotation2d()));
staticSpeed,
Rotation2d.fromDegrees(staticAngleDegrees)));
});
}
public Command runFrontRight() {
public Command runFrontRight(double staticSpeed, double staticAngleDegrees) {
return run(() -> {
frontRight.setDesiredState(new SwerveModuleState(
1,
new Rotation2d()));
staticSpeed,
Rotation2d.fromDegrees(staticAngleDegrees)));
});
}
public Command runRearLeft() {
public Command runRearLeft(double staticSpeed, double staticAngleDegrees) {
return run(() -> {
rearLeft.setDesiredState(new SwerveModuleState(
1,
new Rotation2d()));
staticSpeed,
Rotation2d.fromDegrees(staticAngleDegrees)));
});
}
public Command runRearRight() {
public Command runRearRight(double staticSpeed, double staticAngleDegrees) {
return run(() -> {
rearRight.setDesiredState(new SwerveModuleState(
1,
new Rotation2d()));
staticSpeed,
Rotation2d.fromDegrees(staticAngleDegrees)));
});
}