add new drive pace for rotated robot relative control

Team2338 · Mar 4, 2025 · 97e9f6b · 97e9f6b
1 parent 0db9633
commit 97e9f6b
Show file tree

Hide file tree

Showing 4 changed files with 7 additions and 6 deletions.
diff --git a/src/main/java/team/gif/lib/drivePace.java b/src/main/java/team/gif/lib/drivePace.java
@@ -5,6 +5,7 @@
 public enum drivePace {
     COAST_FR(Constants.Drivetrain.COAST_SPEED_METERS_PER_SECOND, true),
     COAST_RR(Constants.Drivetrain.COAST_SPEED_METERS_PER_SECOND, false),
+    COAST_ROT(Constants.Drivetrain.COAST_SPEED_METERS_PER_SECOND, false),
     SLOW_FR(Constants.Drivetrain.SLOW_SPEED_METERS_PER_SECOND, true),
     SLOW_RR(Constants.Drivetrain.SLOW_SPEED_METERS_PER_SECOND, false),
     BOOST_FR(Constants.Drivetrain.BOOST_SPEED_METERS_PER_SECOND, true),

diff --git a/src/main/java/team/gif/robot/OI.java b/src/main/java/team/gif/robot/OI.java
@@ -10,7 +10,7 @@
 import team.gif.robot.commands.climber.ClimberDeploy;
 import team.gif.robot.commands.climber.ClimberClimb;
 import team.gif.robot.commands.climber.PistonToggleState;
-import team.gif.robot.commands.driveModes.EnableRobotOrientedMode;
+import team.gif.robot.commands.driveModes.EnableRotatedMode;
 import team.gif.robot.commands.drivetrain.Reset180;
 import team.gif.robot.commands.elevator.SetElevatorPosition;
 import team.gif.robot.commands.shooter.Shoot;
@@ -123,7 +123,7 @@ public OI() {
         dLBump.whileTrue(new EnableBoost());
         dX.whileTrue(new AutoDriveAndShoot(false));
         dB.whileTrue(new AutoDriveAndShoot(true));
-        dRBump.whileTrue(new EnableRobotOrientedMode());
+        dRBump.whileTrue(new EnableRotatedMode());
 
         // aux controls
         aStart.and(aDPadUp).onTrue(new Reset0());

diff --git a/...s/driveModes/EnableRobotOrientedMode.java → ...ommands/driveModes/EnableRotatedMode.java b/...s/driveModes/EnableRobotOrientedMode.java → ...ommands/driveModes/EnableRotatedMode.java
@@ -5,9 +5,9 @@
 import team.gif.lib.drivePace;
 import team.gif.robot.Robot;
 
-public class EnableRobotOrientedMode extends Command {
+public class EnableRotatedMode extends Command {
 
-    public EnableRobotOrientedMode() {
+    public EnableRotatedMode() {
         super();
         //addRequirements(Robot.climber); // uncomment
     }
@@ -16,7 +16,7 @@ public EnableRobotOrientedMode() {
     @Override
     public void initialize() {
         System.out.println("Robot Oriented Enabled w/ " + DriverStation.getMatchTime() + " remaining");
-        Robot.swerveDrive.setDrivePace(drivePace.COAST_RR);
+        Robot.swerveDrive.setDrivePace(drivePace.COAST_ROT);
     }
 
     // Called every time the scheduler runs (~20ms) while the command is scheduled

diff --git a/src/main/java/team/gif/robot/commands/drivetrain/DriveSwerve.java b/src/main/java/team/gif/robot/commands/drivetrain/DriveSwerve.java
@@ -34,7 +34,7 @@ public void execute() {
 
             // During robot oriented mode (_RR), make climber the front of the bot (rotate forward and strafe 90 degrees)
             // This only occurs when using joysticks since DriveSwerve is for joystick response
-            if (Robot.swerveDrive.getDrivePace() == drivePace.COAST_RR) {
+            if (Robot.swerveDrive.getDrivePace() == drivePace.COAST_ROT) {
                 double forwardStore = forward;
                 double strafeStore = strafe;
                 forward = -strafeStore;