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fix red alliiance inversion? #37

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Merged
pix-xl merged 1 commit into from
Apr 3, 2025
Merged

fix red alliiance inversion? #37

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17 changes: 16 additions & 1 deletion src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,8 @@

import com.ctre.phoenix6.swerve.SwerveRequest;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
Expand Down Expand Up @@ -80,17 +82,30 @@ public Command getAutonomousCommand() {
public void setDefaultCommands() {
final var driver = DriverXbox.getInstance();
final var operator = OperatorXbox.getInstance();
final var currAlliance = DriverStation.getAlliance().get();

CommandSwerveDrivetrain.getInstance().setDefaultCommand(
CommandSwerveDrivetrain.getInstance().applyRequest(() -> {
if (currAlliance == Alliance.Blue){
if (modeFast) {
return drive.withVelocityX(driver.getDriveTranslation().getX() * kMaxVelocity) // Drive forward with negative Y (forward)
.withVelocityY(driver.getDriveTranslation().getY() * kMaxVelocity) // Drive left with negative X (left)
.withRotationalRate(driver.getDriveRotation() * kMaxAngularVelocity); // Drive counterclockwise with negative X (left)
} else {
} else {
return drive.withVelocityX(driver.getDriveTranslation().getX() * kMaxVelocity * 0.3) // Drive forward with negative Y (forward)
.withVelocityY(driver.getDriveTranslation().getY() * kMaxVelocity * 0.3) // Drive left with negative X (left)
.withRotationalRate(driver.getDriveRotation() * kMaxAngularVelocity * 0.3); // Drive counterclockwise with negative X (left)
}
} else {
if (modeFast) {
return drive.withVelocityX(-driver.getDriveTranslation().getX() * kMaxVelocity) // Drive forward with negative Y (forward)
.withVelocityY(-driver.getDriveTranslation().getY() * kMaxVelocity) // Drive left with negative X (left)
.withRotationalRate(driver.getDriveRotation() * kMaxAngularVelocity); // Drive counterclockwise with negative X (left)
} else {
return drive.withVelocityX(-driver.getDriveTranslation().getX() * kMaxVelocity * 0.3) // Drive forward with negative Y (forward)
.withVelocityY(-driver.getDriveTranslation().getY() * kMaxVelocity * 0.3) // Drive left with negative X (left)
.withRotationalRate(driver.getDriveRotation() * kMaxAngularVelocity * 0.3); // Drive counterclockwise with negative X (left)
}
}
})
);
Expand Down