add drive command with smoother inputs #36
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linglejack06
commented
Nov 12, 2024
linglejack06
commented
- square linear velocity while retaining direction of x and y
- square omega input using Math.copySign to retain direction
- rename wpi_interface to wpilib_interface
jkleiber
reviewed
Nov 13, 2024
Comment on lines
35
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| double deadband = Deadband.oneAxisDeadband(Math.hypot(x, y), 0.1); | ||
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| Rotation2d direction = new Rotation2d(x, y); | ||
| double squaredMagnitude = deadband * deadband; | ||
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| Translation2d linearVelocity = | ||
| new Pose2d(new Translation2d(), direction) | ||
| .transformBy(new Transform2d(squaredMagnitude, 0.0, new Rotation2d())) | ||
| .getTranslation(); | ||
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| return linearVelocity; |
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This logic is sus to me, and definitely needs to be tested
If it works, we will need some comments added to explain the logic and why it works
jkleiber
approved these changes
Nov 19, 2024
This was referenced Nov 19, 2024
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