Updated to 2025.1.1-2, other fixes

Fixed Spelling mistakes & driving logic errors
FRC2539 · Dec 9, 2024 · a1b64a3 · a1b64a3
1 parent 28779e4
commit a1b64a3
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Showing 5 changed files with 14 additions and 11 deletions.
diff --git a/build.gradle b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
 }
 
 java {

diff --git a/src/main/java/frc/robot/Constants/GlobalConstants.java b/src/main/java/frc/robot/Constants/GlobalConstants.java
@@ -1,4 +1,4 @@
-package frc.robot.constants;
+package frc.robot.Constants;
 
 public class GlobalConstants {
 

diff --git a/src/main/java/frc/robot/Constants/TunerConstants.java b/src/main/java/frc/robot/Constants/TunerConstants.java
@@ -1,4 +1,4 @@
-package frc.robot.constants;
+package frc.robot.Constants;
 
 import static edu.wpi.first.units.Units.*;
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -16,9 +16,9 @@
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
 import frc.lib.controller.LogitechController;
 import frc.lib.controller.ThrustmasterJoystick;
-import frc.robot.constants.GlobalConstants;
-import frc.robot.constants.TunerConstants;
-import frc.robot.constants.GlobalConstants.ControllerConstants;
+import frc.robot.Constants.GlobalConstants;
+import frc.robot.Constants.TunerConstants;
+import frc.robot.Constants.GlobalConstants.ControllerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 
 public class RobotContainer {
@@ -58,13 +58,16 @@ private void configureBindings() {
         drivetrain.setDefaultCommand(
             // Drivetrain will execute this command periodically
             drivetrain.applyRequest(() ->
-                drive.driveRobotRelative(-leftDriveController.getYAxis().get() * GlobalConstants.MAX_TRANSLATIONAL_SPEED, -leftDriveController.getXAxis().get() * GlobalConstants.MAX_TRANSLATIONAL_SPEED, -rightDriveController.getXAxis().get() * GlobalConstants.MAX_ROTATIONAL_SPEED);
-                // drive.withVelocityX(-leftDriveController.getYAxis().get() * GlobalConstants.MAX_TRANSLATIONAL_SPEED) // Drive forward with negative Y (forward)
-                //     .withVelocityY(-leftDriveController.getXAxis().get() * GlobalConstants.MAX_TRANSLATIONAL_SPEED) // Drive left with negative X (left)
-                //     .withRotationalRate(-rightDriveController.getXAxis().get() * GlobalConstants.MAX_ROTATIONAL_SPEED) // Drive counterclockwise with negative X (left)
+                drive.withVelocityX(leftDriveController.getYAxis().get() * GlobalConstants.MAX_TRANSLATIONAL_SPEED)
+                    .withVelocityY(-leftDriveController.getXAxis().get() * GlobalConstants.MAX_TRANSLATIONAL_SPEED)
+                    .withRotationalRate(rightDriveController.getXAxis().get() * GlobalConstants.MAX_ROTATIONAL_SPEED)
             )
         );
 
+        // drive.withVelocityX(-leftDriveController.getYAxis().get() * GlobalConstants.MAX_TRANSLATIONAL_SPEED) // Drive forward with negative Y (forward)
+                //     .withVelocityY(-leftDriveController.getXAxis().get() * GlobalConstants.MAX_TRANSLATIONAL_SPEED) // Drive left with negative X (left)
+                //     .withRotationalRate(-rightDriveController.getXAxis().get() * GlobalConstants.MAX_ROTATIONAL_SPEED) // Drive counterclockwise with negative X (left)
+
         operatorController.getA().whileTrue(drivetrain.applyRequest(() -> brake));
         operatorController.getB().whileTrue(drivetrain.applyRequest(() ->
             point.withModuleDirection(new Rotation2d(-operatorController.getLeftYAxis().get(), -operatorController.getLeftXAxis().get()))

diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -235,7 +235,7 @@ public SwerveRequest driveRobotRelative(ChassisSpeeds speeds) {
     public SwerveRequest driveRobotRelative(double xVelocity, double yVelocity, double rotationRate) {
         // Note: it is important to not discretize speeds before or after
         // using the setpoint generator, as it will discretize them for you
-        new ChassisSpeeds speeds = ChassisSpeeds(xVelocity, yVelocity, rotationRate);
+        ChassisSpeeds speeds = new ChassisSpeeds(xVelocity, yVelocity, rotationRate);
         previousSetpoint = setpointGenerator.generateSetpoint(
             previousSetpoint, // The previous setpoint
             speeds, // The desired target speeds