TimeCrafters/FTC_2022
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Slowing the right-side motors slightly

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Sodi
2022-11-29 20:39:35 -06:00
parent f018929d9b
commit 1ced01f2cf
1 changed files with 4 additions and 4 deletions
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8
TeamCode/src/main/java/org/timecrafters/testing/states/TeleOPTankDriver.java
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@@ -51,8 +51,8 @@ public class TeleOPTankDriver extends CyberarmState {
if (Math.abs(engine.gamepad1.left_stick_y) > 0.1) { if (Math.abs(engine.gamepad1.left_stick_y) > 0.1) {
drivePower = engine.gamepad1.left_stick_y; drivePower = engine.gamepad1.left_stick_y;
robot.backRightDrive.setPower(drivePower); robot.backRightDrive.setPower(drivePower * 0.95);
robot.frontRightDrive.setPower(drivePower); robot.frontRightDrive.setPower(drivePower * 0.95);
} }
if (Math.abs(engine.gamepad1.right_stick_y) > 0.1) { if (Math.abs(engine.gamepad1.right_stick_y) > 0.1) {
@@ -165,9 +165,9 @@ public class TeleOPTankDriver extends CyberarmState {
if (RobotRotation < 90 && RobotRotation < -89) {//CCW if (RobotRotation < 90 && RobotRotation < -89) {//CCW
drivePower = (-1 * DeltaRotation/180) - MinimalPower; drivePower = (-1 * DeltaRotation/180) - MinimalPower;
robot.backLeftDrive.setPower(drivePower); robot.backLeftDrive.setPower(drivePower);
robot.backRightDrive.setPower(-drivePower); robot.backRightDrive.setPower(-drivePower * 0.95);
robot.frontLeftDrive.setPower(drivePower); robot.frontLeftDrive.setPower(drivePower);
robot.frontRightDrive.setPower(-drivePower); robot.frontRightDrive.setPower(-drivePower * 0.95);
} }
if (RobotRotation > 90 || RobotRotation < -91) {//CW if (RobotRotation > 90 || RobotRotation < -91) {//CW
drivePower = (1 * DeltaRotation/180) + MinimalPower; drivePower = (1 * DeltaRotation/180) + MinimalPower;