Working swerve and auton.

FRC830 · Feb 24, 2024 · 2800d50 · 2800d50
1 parent f13f092
commit 2800d50
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Showing 6 changed files with 32 additions and 8 deletions.
diff --git a/src/main/cpp/ControllerInterface.cpp b/src/main/cpp/ControllerInterface.cpp
@@ -4,7 +4,7 @@ void ControllerInterface::UpdateRobotControlData(RobotControlData &controlData)
 {
     UpdateIntakeInput(controlData);
     UpdateLauncherInput(controlData);
-    // UpdateSwerveInput(controlData);
+    UpdateSwerveInput(controlData);
 };
 
 void ControllerInterface::UpdateIntakeInput(RobotControlData &controlData)
@@ -42,8 +42,8 @@ void ControllerInterface::UpdateSwerveInput(RobotControlData &controlData)
 {
     controlData.swerveInput.slowMode = m_pilot.GetLeftBumper();
 
-    controlData.swerveInput.xTranslation = m_pilot.GetLeftY();
-    controlData.swerveInput.yTranslation = m_pilot.GetLeftX();
+    controlData.swerveInput.xTranslation = -m_pilot.GetLeftY();
+    controlData.swerveInput.yTranslation = -m_pilot.GetLeftX();
     controlData.swerveInput.rotation = -m_pilot.GetRightX();
 
     if (controlData.swerveInput.slowMode)

diff --git a/src/main/deploy/pathplanner/autos/90 Degree Auto.auto b/src/main/deploy/pathplanner/autos/90 Degree Auto.auto
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 2.0,
+      "y": 3.0
+    },
+    "rotation": 0
+  },
   "command": {
     "type": "sequential",
     "data": {

diff --git a/src/main/deploy/pathplanner/autos/Backwards Auto.auto b/src/main/deploy/pathplanner/autos/Backwards Auto.auto
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 10.0,
+      "y": 2.0
+    },
+    "rotation": 0.0
+  },
   "command": {
     "type": "sequential",
     "data": {

diff --git a/src/main/deploy/pathplanner/autos/Forward Auto.auto b/src/main/deploy/pathplanner/autos/Forward Auto.auto
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 2.0,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
   "command": {
     "type": "sequential",
     "data": {

diff --git a/src/main/deploy/pathplanner/autos/Neg 90 Degree Auto.auto b/src/main/deploy/pathplanner/autos/Neg 90 Degree Auto.auto
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 2,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
   "command": {
     "type": "sequential",
     "data": {

diff --git a/src/main/deploy/pathplanner/paths/Forward Path.path b/src/main/deploy/pathplanner/paths/Forward Path.path
@@ -12,7 +12,7 @@
         "y": 7.0
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Forward Start"
     },
     {
       "anchor": {