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auto #2

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ public enum Modules {;

public static final double kPXAuto = 0; //TODO: find
public static final double kPYAuto = 0; //TODO: find
public static final double kThetaAuto = 0; //TODO: find
public static final double kPThetaAuto = 0; //TODO: find
}

public static final class ModuleConstants {
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14 changes: 1 addition & 13 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -56,26 +56,14 @@ private void configureButtonBindings() {
);

new Button(controller::getLeftBumperPressed).whenPressed(swerve.resetGyroCommand());
new Button(controller::getRightBumperPressed).whenPressed(swerve.resetModulesCommand(), false); // TODO: test
new Button(controller::getRightBumperPressed).whenPressed(swerve.resetModulesCommand(), false);
}

/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
* @return the command to run in autonomous
*/
// public Command getAutonomousCommand() {
// return new RunCommand(
// ()-> {
// swerve.setModulesStates(
// new SwerveModuleState[]{
// new SwerveModuleState(0, new Rotation2d(Constants.SwerveConstants.kOffsetAngle[0])),
// new SwerveModuleState(0, new Rotation2d(Constants.SwerveConstants.kOffsetAngle[1])),
// new SwerveModuleState(0, new Rotation2d(Constants.SwerveConstants.kOffsetAngle[2])),
// new SwerveModuleState(0, new Rotation2d(Constants.SwerveConstants.kOffsetAngle[3]))
// });
// }, swerve);
// }

public Command getAutonomousCommand(){
return swerve.resetModulesCommand();
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