Update SwerveWithPathPlanner for beta-5

CrossTheRoadElec · Dec 16, 2023 · 4a6c3fd · 4a6c3fd
1 parent 9bcb482
commit 4a6c3fd
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java b/java/SwerveWithPathPlanner/src/main/java/frc/robot/RobotContainer.java
@@ -21,8 +21,10 @@ public class RobotContainer {
   /* Setting up bindings for necessary control of the swerve drive platform */
   CommandXboxController joystick = new CommandXboxController(0); // My joystick
   CommandSwerveDrivetrain drivetrain = TunerConstants.DriveTrain; // My drivetrain
-  SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric().withDriveRequestType(DriveRequestType.OpenLoopVoltage).withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1); // I want field-centric
-                                                                                            // driving in open loop
+  SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+      .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+      .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
+                                                               // driving in open loop
   SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
   SwerveRequest.RobotCentric forwardStraight = new SwerveRequest.RobotCentric().withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();