From ecba8b99a89ce9f955b223db08f4173945a0988c Mon Sep 17 00:00:00 2001 From: sciencewhiz Date: Wed, 18 Jan 2023 21:25:49 -0800 Subject: [PATCH] [examples] Fix swapped arguments in MecanumControllerCommand example (#4976) --- .../cpp/subsystems/DriveSubsystem.cpp | 4 ++-- .../mecanumcontrollercommand/subsystems/DriveSubsystem.java | 4 ++-- .../edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp index 9120fa6c77..292ad1f52c 100644 --- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp +++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp @@ -50,9 +50,9 @@ void DriveSubsystem::Periodic() { void DriveSubsystem::Drive(double xSpeed, double ySpeed, double rot, bool fieldRelative) { if (fieldRelative) { - m_drive.DriveCartesian(ySpeed, xSpeed, rot, m_gyro.GetRotation2d()); + m_drive.DriveCartesian(xSpeed, ySpeed, rot, m_gyro.GetRotation2d()); } else { - m_drive.DriveCartesian(ySpeed, xSpeed, rot); + m_drive.DriveCartesian(xSpeed, ySpeed, rot); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java index 50a23cd19c..83b9c9fa3f 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java @@ -113,9 +113,9 @@ public class DriveSubsystem extends SubsystemBase { */ public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) { if (fieldRelative) { - m_drive.driveCartesian(ySpeed, xSpeed, rot, m_gyro.getRotation2d()); + m_drive.driveCartesian(xSpeed, ySpeed, rot, m_gyro.getRotation2d()); } else { - m_drive.driveCartesian(ySpeed, xSpeed, rot); + m_drive.driveCartesian(xSpeed, ySpeed, rot); } } diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java index c681a86e48..f37654321d 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java @@ -40,7 +40,7 @@ public class Robot extends TimedRobot { @Override public void teleopPeriodic() { - // Use the joystick X axis for forward movement, Y axis for lateral + // Use the joystick Y axis for forward movement, X axis for lateral // movement, and Z axis for rotation. m_robotDrive.driveCartesian(-m_stick.getY(), -m_stick.getX(), -m_stick.getZ()); }