Joystick control #5
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WispySparks
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I cleaned up the commit history |
…veTest into joystick-control
WispySparks
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WispySparks
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Nov 22, 2024
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| var slider = Shuffleboard.getTab("testing").add("Left/Right", 0).withWidget(BuiltInWidgets.kNumberSlider).getEntry(); | ||
| var sliderTwo = Shuffleboard.getTab("testing").add("Forward/Backward", 0).withWidget(BuiltInWidgets.kNumberSlider).getEntry(); |
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| // System.out.println("Angle conversion factor: " + angleConversionFactor); | ||
| // if (1 == 1)throw new RuntimeException(""); |
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| for (var mod : swerveDrive.getModules()) { | ||
| var motor = (WPI_TalonSRX) mod.getAngleMotor().getMotor(); | ||
| if (motor.getDeviceID() == 4) { | ||
| // motor.set(0.05); | ||
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| // System.out.println(motor.getSelectedSensorPosition()); | ||
| // System.out.println("Motor: " + motor.getDeviceID() + " | Closed loop error: " + motor.getClosedLoopError() + " | Closed loop target: " + motor.getClosedLoopTarget() + " | Current Position: " + motor.getSelectedSensorPosition()); | ||
| SmartDashboard.putNumber("Error", motor.getClosedLoopError()); | ||
| SmartDashboard.putNumber("Current", motor.getSelectedSensorPosition()); | ||
| SmartDashboard.putNumber("Reference", motor.getClosedLoopTarget()); | ||
| } | ||
| } |
| return getPose().getRotation(); | ||
| } | ||
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| //! TODO: Fill out this info |
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