reimplement single module swerve subsystem

grt192 · Jan 31, 2024 · 44660a3 · 44660a3
1 parent 5f89a23
commit 44660a3
Showing 1 changed file with 8 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -136,7 +136,7 @@ private void configureBindings() {
           final SwerveSubsystem swerveSubsystem = (SwerveSubsystem) baseSwerveSubsystem;
 
           swerveSubsystem.setDefaultCommand(new RunCommand(() -> {
-              // swerveSubsystem.setDrivePowers(driveController.getLeftPower(), driveController.getForwardPower(), driveController.getRotatePower());//, 1 * (controller.getRightTriggerAxis() - controller.getLeftTriggerAxis()));
+              swerveSubsystem.setDrivePowers(driveController.getLeftPower(), driveController.getForwardPower(), driveController.getRotatePower());//, 1 * (controller.getRightTriggerAxis() - controller.getLeftTriggerAxis()));
               // pivotSubsystem.setFieldPosition(swerveSubsystem.getRobotPosition());
           }
           , swerveSubsystem));
@@ -168,16 +168,14 @@ private void configureBindings() {
         } else if (baseSwerveSubsystem instanceof SingleModuleSwerveSubsystem){
           final SingleModuleSwerveSubsystem swerveSubsystem = (SingleModuleSwerveSubsystem) baseSwerveSubsystem;
 
-        // System.out.println("1");
-
-        // swerveSubsystem.setDefaultCommand(new RunCommand(() -> {
-        //   swerveSubsystem.setDrivePowers(controller.getLeftX(), -controller.getLeftY());//, 1 * (controller.getRightTriggerAxis() - controller.getLeftTriggerAxis()));
-        // }
-        // , swerveSubsystem));
+          swerveSubsystem.setDefaultCommand(new RunCommand(() -> {
+            swerveSubsystem.setDrivePowers(driveController.getLeftPower(), driveController.getForwardPower());//, 1 * (controller.getRightTriggerAxis() - controller.getLeftTriggerAxis()));
+          }
+          , swerveSubsystem));
 
-        // AButton.onTrue(new InstantCommand(() -> {
-        //   swerveSubsystem.toggletoRun();
-        // }));
+          driveController.getFieldResetButton().onTrue(new InstantCommand(() -> {
+            swerveSubsystem.toggletoRun();
+          }));
 
         }