yay i did stuff

TitaniumTigers4829 · Oct 4, 2024 · 4458422 · 4458422
1 parent f72b871
commit 4458422
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -10,7 +10,6 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc.robot.subsystems.vision.VisionSubsystem;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -118,8 +118,8 @@ private void configureButtonBindings() {
     DoubleSupplier driverRightStickX = driverController::getRightX;
     DoubleSupplier driverLeftStick[] =
         new DoubleSupplier[] {
-          () -> Util.modifyAxisPolar(driverLeftStickX, driverLeftStickY, 2)[0],
-          () -> Util.modifyAxisPolar(driverLeftStickX, driverLeftStickY, 2)[1]
+          () -> Util.modifyAxisPolar(driverLeftStickX, driverLeftStickY, 3)[0],
+          () -> Util.modifyAxisPolar(driverLeftStickX, driverLeftStickY, 3)[1]
         };
 
     Trigger driverRightBumper = new Trigger(driverController::getRightBumper);
@@ -161,7 +161,7 @@ private void configureButtonBindings() {
     Command driveCommand = new Drive(driveSubsystem, visionSubsystem,
             driverLeftStick[1],
             driverLeftStick[0],
-            () -> Util.modifyAxis(driverRightStickX, 2),
+            () -> Util.modifyAxis(driverRightStickX, 3),
             () -> !driverRightBumper.getAsBoolean(),
             () -> driverLeftBumper.getAsBoolean());
 

diff --git a/src/main/java/frc/robot/subsystems/swerve/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/swerve/DriveSubsystem.java
@@ -55,7 +55,7 @@ public class DriveSubsystem extends SubsystemBase {
   private static final ModuleLimits currentModuleLimits =
       new ModuleLimits(
           DriveConstants.MAX_SPEED_METERS_PER_SECOND,
-          4,
+          10,
           DriveConstants.MAX_ANGULAR_SPEED_RADIANS_PER_SECOND);
   private SwerveSetpointGenerator setpointGenerator;
   private SwerveSetpoint currentSetpoint;
@@ -222,7 +222,7 @@ private static Translation2d convertSwerveStateToVelocityVector(SwerveModuleStat
     }
 
   public double getSkidRatio() {
-    return getSkiddingRatio(moduleStates(), DriveConstants.DRIVE_KINEMATICS);
+    return getSkiddingRatio(getModuleStates(), DriveConstants.DRIVE_KINEMATICS);
   }
 
   public boolean isSkidding() {
@@ -469,5 +469,7 @@ public void periodic() {
     SmartDashboard.putBoolean("screwed", Math.abs(pose.getX()) > 20);
     SmartDashboard.putString("odometry", pose.toString());
     SmartDashboard.putNumber("speakerDistance", pose.getTranslation().getDistance(SmarterDashboardRegistry.getSpeakerPos()));
+
+    SmartDashboard.putNumber("skid ratio", getSkidRatio());
   }
 }