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Documentation and Mecanum Debugging

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Nathaniel Palme
2020-12-08 16:58:20 -06:00
parent 225da7dd95
commit 71816174a1
1 changed files with 3 additions and 1 deletions
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TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java
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@@ -340,7 +340,9 @@ public class Robot {
driveBackRight.setPower(powerBackRight * BIAS_BACK_RIGHT);
}
//returns an array of the powers necessary to execute the provided motion. The order of the motors
//returns an array of the powers necessary to execute the provided motion. "degreesDirectionMotion"
//is the angle relative to the field that the robot should drive at. "degreesDirectionFace" is
//the angle the robot should face relative to the field. The order of the output powers is
//is ForwardLeft, ForwardRight, BackLeft, BackRight
public double[] getMecanumPowers(float degreesDirectionMotion, double scalar, float degreesDirectionFace) {
double rad = Math.toRadians(getRelativeAngle(degreesDirectionFace,degreesDirectionMotion));