fieldrelative stuff

redshiftrobotics · Jan 23, 2024 · 8106ad9 · 8106ad9
1 parent 7b72700
commit 8106ad9
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/commands/AutoRotateTo.java b/src/main/java/frc/robot/commands/AutoRotateTo.java
@@ -70,7 +70,7 @@ public void execute() {
         ChassisSpeeds speeds = subsystem.getDesiredState();
         speeds.omegaRadiansPerSecond=turnspeed;
 
-        subsystem.setDesiredState(speeds);
+        subsystem.setDesiredState(speeds,true);
     }
 
     /**

diff --git a/src/main/java/frc/robot/commands/SwerveRemoteOperation/SwerveDriveXboxControl.java b/src/main/java/frc/robot/commands/SwerveRemoteOperation/SwerveDriveXboxControl.java
@@ -31,9 +31,7 @@ public class SwerveDriveXboxControl extends Command {
     public SwerveDriveXboxControl(SwerveDrivetrain drivetrain, CommandXboxController driverXboxController) {
         this.drivetrain = drivetrain;
         this.controller = driverXboxController;
-
-        //not sure if this code in right place
-        xboxPID = new PIDController(
+        this.xboxPID = new PIDController(
             ControllerConstants.CONTROLLER_PID_P,
             ControllerConstants.CONTROLLER_PID_I,
             ControllerConstants.CONTROLLER_PID_D
@@ -81,7 +79,7 @@ public void execute() {
 
 
 
-        drivetrain.setDesiredState(speeds);
+        drivetrain.setDesiredState(speeds, true);
 
     }