Merge branch 'Pathfinding' of https://github.com/Tigerbotics7125/FRC2024

into Pathfinding
Tigerbotics7125 · Mar 22, 2024 · 60f4dfe · 60f4dfe
2 parents dd61264 + c113a2d
commit 60f4dfe
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Showing 2 changed files with 12 additions and 15 deletions.
diff --git a/src/main/java/io/github/tigerbotics7125/Robot.java b/src/main/java/io/github/tigerbotics7125/Robot.java
@@ -10,6 +10,7 @@
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -25,7 +26,6 @@
 import io.github.tigerbotics7125.subsystems.Intake;
 import io.github.tigerbotics7125.subsystems.Shooter;
 import java.util.Map;
-import edu.wpi.first.wpilibj.Timer;
 
 public class Robot extends TimedRobot {
 
@@ -131,7 +131,6 @@ public void robotInit() {
     @Override
     public void robotPeriodic() {
         CommandScheduler.getInstance().run();
-
 
         SmartDashboard.putData("DTControlType", m_driveControlChooser);
     }

diff --git a/src/main/java/io/github/tigerbotics7125/subsystems/Drivetrain.java b/src/main/java/io/github/tigerbotics7125/subsystems/Drivetrain.java
@@ -60,7 +60,6 @@ public Drivetrain() {
 
         m_leftEncoder.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
         m_rightEncoder.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
-
 
         REVUtil.retryFailable(5, () -> m_backLeft.follow(m_frontLeft));
         REVUtil.retryFailable(5, () -> m_backRight.follow(m_frontRight));
@@ -146,8 +145,8 @@ public Command setIdleMode(IdleMode idleMode) {
     public void periodic() {
         SmartDashboard.putNumber("/DT/Left", m_frontLeft.get());
         SmartDashboard.putNumber("/DT/Right", m_frontRight.get());
-        SmartDashboard.putNumber("Left Motor Value",getLeftPositionMeters());
-        SmartDashboard.putNumber("Right Motor Value",getRightPositionMeters());
+        SmartDashboard.putNumber("Left Motor Value", getLeftPositionMeters());
+        SmartDashboard.putNumber("Right Motor Value", getRightPositionMeters());
 
         m_odometry.update(
                 m_gyro.getRotation2d(),
@@ -196,19 +195,18 @@ private void driveRelative(ChassisSpeeds chassisSpeeds) {
         m_frontLeft.set(
                 m_leftPID.calculate(getLeftVelocityMetersPerSecond(), ws.leftMetersPerSecond));
         m_frontRight.set(
-                m_rightPID.calculate(getRightVelocityMetersPerSecond(),
-        ws.rightMetersPerSecond));
+                m_rightPID.calculate(getRightVelocityMetersPerSecond(), ws.rightMetersPerSecond));
 
-        //m_frontLeft.set(ws.leftMetersPerSecond / Constants.DriveTrain.kMaxLinearVelocity);
-        //m_frontRight.set(ws.rightMetersPerSecond / Constants.DriveTrain.kMaxLinearVelocity);
+        // m_frontLeft.set(ws.leftMetersPerSecond / Constants.DriveTrain.kMaxLinearVelocity);
+        // m_frontRight.set(ws.rightMetersPerSecond / Constants.DriveTrain.kMaxLinearVelocity);
     }
-    public Command resetEncoders(){
+
+    public Command resetEncoders() {
         return runOnce(
-                ()->{
-                 m_leftEncoder.setSelectedSensorPosition(0);
-                 m_rightEncoder.setSelectedSensorPosition(0);   
-                }
-        );
+                () -> {
+                    m_leftEncoder.setSelectedSensorPosition(0);
+                    m_rightEncoder.setSelectedSensorPosition(0);
+                });
     }
     public Command resetGyro(){
         return runOnce(