Made swerve actually run

CshCyberhawks · Feb 6, 2025 · 268584e · 268584e
1 parent 62254e6
commit 268584e
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Showing 3 changed files with 11 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Robot.kt b/src/main/java/frc/robot/Robot.kt
@@ -74,7 +74,7 @@ object Robot : TimedRobot() {
     }
 
     override fun disabledPeriodic() {
-        vision.updateOdometryFromDisabled()
+//        vision.updateOdometryFromDisabled()
     }
 
     /** This autonomous runs the autonomous command selected by your [RobotContainer] class.  */
@@ -95,7 +95,7 @@ object Robot : TimedRobot() {
 
     /** This method is called periodically during operator control.  */
     override fun teleopPeriodic() {
-        vision.updateOdometry(1, false)
+//        vision.updateOdometry(1, false)
     }
 
     override fun testInit() {

diff --git a/src/main/java/frc/robot/RobotContainer.kt b/src/main/java/frc/robot/RobotContainer.kt
@@ -57,6 +57,8 @@ object RobotContainer {
         drivetrain.setDefaultCommand(teleopDriveCommand)
 
         drivetrain.registerTelemetry(logger::telemeterize)
+
+//        teleopDriveCommand.schedule()
     }
 
     val autonomousCommand: Command

diff --git a/src/main/java/frc/robot/commands/TeleopDriveCommand.kt b/src/main/java/frc/robot/commands/TeleopDriveCommand.kt
@@ -40,6 +40,11 @@ class TeleopDriveCommand : Command() {
 
         SmartDashboard.putNumber("ControlledSpeed", ControlledSpeed)
         SmartDashboard.putNumber("ControlledAngularRate", ControlledAngularRate)
+        SmartDashboard.putNumber("Right Joy Y", rightJoystick.y)
+        SmartDashboard.putNumber("Drive X", -MiscCalculations.calculateDeadzone(
+            rightJoystick.y,
+            .1
+        ) * ControlledSpeed)
 
 
         val fieldOriented = !rightJoystick.button(2).asBoolean
@@ -68,7 +73,7 @@ class TeleopDriveCommand : Command() {
                             .1
                         ) * ControlledAngularRate
                     )
-            }
+            }.execute()
         } else {
             drivetrain.applyRequest {
                 robotRelative.withVelocityX(
@@ -93,7 +98,7 @@ class TeleopDriveCommand : Command() {
                             .1
                         ) * ControlledAngularRate
                     )
-            }
+            }.execute()
         }