From 71816174a13444759e6cfc6a2ead456eba6087f1 Mon Sep 17 00:00:00 2001 From: Nathaniel Palme Date: Tue, 8 Dec 2020 16:58:20 -0600 Subject: [PATCH] Documentation and Mecanum Debugging --- .../src/main/java/org/timecrafters/UltimateGoal/Robot.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java index 0f4b0bc..452da1c 100644 --- a/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java +++ b/TeamCode/src/main/java/org/timecrafters/UltimateGoal/Robot.java @@ -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));