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Upgrade Gradle, fix build, and format

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This commit is contained in:
Gold856
2025-06-24 00:25:30 -04:00
committed by samfreund
parent a5f9a0b673
commit 3ace6122b0
8 changed files with 19 additions and 35 deletions
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6
photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
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@@ -122,8 +122,7 @@ public class SwerveDrive {
* @param omega Angular velocity (rotation CCW+)
*/
public void drive(double vx, double vy, double omega) {
var targetChassisSpeeds =
new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading());
var targetChassisSpeeds = new ChassisSpeeds(vx, vy, omega).toRobotRelative(getHeading());
setChassisSpeeds(targetChassisSpeeds, true, false);
}
@@ -269,8 +268,7 @@ public class SwerveDrive {
ChassisSpeeds chassisSpeeds = getChassisSpeeds();
SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx);
SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy);
SmartDashboard.putNumber(
table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega));
SmartDashboard.putNumber(table + "Omega Degrees", Math.toDegrees(chassisSpeeds.omega));
SmartDashboard.putNumber(table + "Target VX", targetChassisSpeeds.vx);
SmartDashboard.putNumber(table + "Target VY", targetChassisSpeeds.vy);
SmartDashboard.putNumber(

9
photonlib-java-examples/aimattarget/src/main/java/frc/robot/subsystems/drivetrain/SwerveModule.java
View File

@@ -92,8 +92,7 @@ public class SwerveModule {
double drivePid = 0;
if (!openLoop) {
// Perform PID feedback control to compensate for disturbances
drivePid =
drivePidController.calculate(driveEncoder.getRate(), desiredState.speed);
drivePid = drivePidController.calculate(driveEncoder.getRate(), desiredState.speed);
}
driveMotor.setVoltage(driveFF + drivePid);
@@ -156,11 +155,9 @@ public class SwerveModule {
table + "Steer Degrees", Math.toDegrees(MathUtil.angleModulus(state.angle.getRadians())));
SmartDashboard.putNumber(
table + "Steer Target Degrees", Math.toDegrees(steerPidController.getSetpoint()));
SmartDashboard.putNumber(table + "Drive Velocity Feet", Units.metersToFeet(state.speed));
SmartDashboard.putNumber(
table + "Drive Velocity Feet", Units.metersToFeet(state.speed));
SmartDashboard.putNumber(
table + "Drive Velocity Target Feet",
Units.metersToFeet(desiredState.speed));
table + "Drive Velocity Target Feet", Units.metersToFeet(desiredState.speed));
SmartDashboard.putNumber(table + "Drive Current", driveCurrentSim);
SmartDashboard.putNumber(table + "Steer Current", steerCurrentSim);
}