arjun!!!!!!! no work fix lol

BitBucketsFRC4183 · Mar 7, 2025 · 5ed6df6 · 5ed6df6
1 parent 8425c19
commit 5ed6df6
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Showing 5 changed files with 9 additions and 9 deletions.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -106,7 +106,6 @@
     }
   ],
   "robotJoysticks": [
-    {},
     {
       "guid": "Keyboard0"
     }

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -251,7 +251,7 @@ void loadCommands() {
                 () -> slewX.calculate(driveController.getLeftY()),
                 () -> slewY.calculate(driveController.getLeftX()),
                 () -> slewTheta.calculate(-driveController.getRightX()),
-                driveSubsystem.getRotation()
+                    () -> driveSubsystem.getRotation()
     ));
   }
 

diff --git a/src/main/java/frc/robot/commands/FieldRelativeDriveCommand.java b/src/main/java/frc/robot/commands/FieldRelativeDriveCommand.java
@@ -11,21 +11,22 @@
 import frc.robot.subsystems.DriveSubsystem.DriveSubsystem;
 
 import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
 
 public class FieldRelativeDriveCommand extends Command {
     private final DriveSubsystem drive;
     private final DoubleSupplier xSupplier;
     private final DoubleSupplier ySupplier;
     private final DoubleSupplier omegaSupplier;
 
-    private final Rotation2d heading_fieldRelative;
+    private final Supplier<Rotation2d> headingSupplier;
 
-    public FieldRelativeDriveCommand(DriveSubsystem drive, DoubleSupplier xSupplier, DoubleSupplier ySupplier, DoubleSupplier omegaSupplier, Rotation2d heading_fieldRelative) {
+    public FieldRelativeDriveCommand(DriveSubsystem drive, DoubleSupplier xSupplier, DoubleSupplier ySupplier, DoubleSupplier omegaSupplier, Supplier<Rotation2d> headingSupplier) {
         this.drive = drive;
         this.xSupplier = xSupplier;
         this.ySupplier = ySupplier;
         this.omegaSupplier = omegaSupplier;
-        this.heading_fieldRelative = heading_fieldRelative;
+        this.headingSupplier = headingSupplier;
     }
 
 
@@ -61,7 +62,7 @@ public void execute() {
                 omega * Math.PI * 1.5
         );
 
-        Rotation2d headingFlipped = heading_fieldRelative;
+        Rotation2d headingFlipped = headingSupplier.get();
 
         if (isFlipped) {
             headingFlipped = headingFlipped.plus(Rotation2d.fromDegrees(180));

diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java
@@ -22,7 +22,7 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-  public static final Mode currentMode = Mode.REAL;
+  public static final Mode currentMode = Mode.SIM;
 
   public static enum Mode {
     /**

diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem/Module.java b/src/main/java/frc/robot/subsystems/DriveSubsystem/Module.java
@@ -48,9 +48,9 @@ public void periodic() {
     Logger.processInputs("Drive/Module" + Integer.toString(index), inputs);
 
     // Calculate positions for odometry
-    // int sampleCount = inputs.odometryPhoenixTimestamps.length; // All signals are sampled together
+    int sampleCount = inputs.odometryPhoenixTimestamps.length; // All signals are sampled together
 
-    int sampleCount = Math.min(inputs.odometryPhoenixTimestamps.length, inputs.odometrySparkTimestamps.length);
+    // int sampleCount = Math.min(inputs.odometryPhoenixTimestamps.length, inputs.odometrySparkTimestamps.length);
     // System.out.println(inputs.odometrySparkTimestamps.length + "  " + inputs.odometryPhoenixTimestamps.length);
     odometryPositions = new SwerveModulePosition[sampleCount];
     for (int i = 0; i < sampleCount; i++) {
-Original file line number
+Diff line change
@@ Expand Up / @@ -106,7 +106,6 @@ @@
         }
       ],
       "robotJoysticks": [
-        {},
         {
           "guid": "Keyboard0"
         }
@@ Expand Down @@