make drive template extend subsystem

team401 · Nov 14, 2024 · f268c65 · f268c65
1 parent 497822a
commit f268c65
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Showing 3 changed files with 28 additions and 20 deletions.
diff --git a/wpilib_interface/src/main/java/coppercore/wpilib_interface/DriveTemplate.java b/wpilib_interface/src/main/java/coppercore/wpilib_interface/DriveTemplate.java
@@ -1,7 +1,8 @@
 package coppercore.wpilib_interface;
 
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj2.command.Subsystem;
 
-public interface DriveTemplate {
+public interface DriveTemplate extends Subsystem {
     public void setGoalSpeeds(ChassisSpeeds goalSpeeds, boolean fieldCentric);
 }
diff --git a/wpilib_interface/src/main/java/coppercore/wpilib_interface/DriveWithJoysticks.java b/wpilib_interface/src/main/java/coppercore/wpilib_interface/DriveWithJoysticks.java
@@ -17,24 +17,33 @@ public class DriveWithJoysticks extends Command {
     private double maxAngularVelocity;
 
     public DriveWithJoysticks(
-            DriveTemplate drive, CommandJoystick leftJoystick, CommandJoystick rightJoystick, double maxLinearVelocity, double maxAngularVelocity) {
+            DriveTemplate drive,
+            CommandJoystick leftJoystick,
+            CommandJoystick rightJoystick,
+            double maxLinearVelocity,
+            double maxAngularVelocity) {
         this.drive = drive;
         this.leftJoystick = leftJoystick;
         this.rightJoystick = rightJoystick;
         this.maxLinearVelocity = maxLinearVelocity;
         this.maxAngularVelocity = maxAngularVelocity;
-        
+
         addRequirements(this.drive);
     }
 
     @Override
     public void execute() {
-        Translation2d linearSpeeds = getLinearVelocity(leftJoystick.getX(), leftJoystick.getY());
+        Translation2d linearSpeeds = getLinearVelocity(-leftJoystick.getX(), -leftJoystick.getY());
 
-        double omega = Deadband.oneAxisDeadband(rightJoystick.getX(), 0.1);
+        double omega = Deadband.oneAxisDeadband(-rightJoystick.getX(), 0.1);
         omega = Math.copySign(omega * omega, omega);
 
-        drive.setGoalSpeeds(new ChassisSpeeds(linearSpeeds.getX() * maxLinearVelocity, linearSpeeds.getY() * maxLinearVelocity, omega * maxAngularVelocity), true);
+        drive.setGoalSpeeds(
+                new ChassisSpeeds(
+                        linearSpeeds.getX() * maxLinearVelocity,
+                        linearSpeeds.getY() * maxLinearVelocity,
+                        omega * maxAngularVelocity),
+                true);
     }
 
     public Translation2d getLinearVelocity(double x, double y) {

diff --git a/wpilib_interface/src/main/java/frc/robot/BuildConstants.java b/wpilib_interface/src/main/java/frc/robot/BuildConstants.java
@@ -1,19 +1,17 @@
 package frc.robot;
 
-/**
- * Automatically generated file containing build version information.
- */
+/** Automatically generated file containing build version information. */
 public final class BuildConstants {
-  public static final String MAVEN_GROUP = "com.github.team401";
-  public static final String MAVEN_NAME = "wpi_interface";
-  public static final String VERSION = "0.0";
-  public static final int GIT_REVISION = 31;
-  public static final String GIT_SHA = "6665ac076ea8c0effafb5558d88433ff386cf7b6";
-  public static final String GIT_DATE = "2024-10-07 18:03:40 EDT";
-  public static final String GIT_BRANCH = "drive-command";
-  public static final String BUILD_DATE = "2024-11-11 19:38:24 EST";
-  public static final long BUILD_UNIX_TIME = 1731371904305L;
-  public static final int DIRTY = 1;
+    public static final String MAVEN_GROUP = "com.github.team401";
+    public static final String MAVEN_NAME = "wpilib_interface";
+    public static final String VERSION = "0.0";
+    public static final int GIT_REVISION = 35;
+    public static final String GIT_SHA = "497822ac6367923d18b42fc721160171e690af59";
+    public static final String GIT_DATE = "2024-11-13 18:53:56 EST";
+    public static final String GIT_BRANCH = "drive-command";
+    public static final String BUILD_DATE = "2024-11-13 19:02:59 EST";
+    public static final long BUILD_UNIX_TIME = 1731542579980L;
+    public static final int DIRTY = 1;
 
-  private BuildConstants(){}
+    private BuildConstants() {}
 }