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Commit bbb1415

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ThatXlinerThatXliner
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Merge pull request #31 from Team3256/dont-force-push
2 parents e55c9ba + ea066f5 commit bbb1415

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+23
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‎src/main/java/frc/robot/RobotContainer.java‎

Lines changed: 23 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -226,9 +226,9 @@ public void configureSwerve() {
226226
swerve.applyRequest(
227227
() ->
228228
drive
229-
.withVelocityX(-m_driverController.getLeftY() * SlowMaxSpeed)
230-
.withVelocityY(-m_driverController.getLeftX() * SlowMaxSpeed)
231-
.withRotationalRate(-m_driverController.getRightX() * SlowMaxAngular)));
229+
.withVelocityX(-m_driverController.getLeftY())
230+
.withVelocityY(-m_driverController.getLeftX())
231+
.withRotationalRate(-m_driverController.getRightX())));
232232

233233
/* translational and rotational speed are slowed */
234234
m_driverController
@@ -256,8 +256,8 @@ public void configureSwerve() {
256256
swerve.applyRequest(
257257
() ->
258258
drive
259-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
260-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
259+
.withVelocityX(m_driverController.getLeftY())
260+
.withVelocityY(m_driverController.getLeftX())
261261
.withRotationalRate(
262262
SwerveConstants.azimuthController.calculate(
263263
swerve.getPigeon2().getAngle(),
@@ -271,8 +271,8 @@ public void configureSwerve() {
271271
swerve.applyRequest(
272272
() ->
273273
drive
274-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
275-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
274+
.withVelocityX(m_driverController.getLeftY())
275+
.withVelocityY(m_driverController.getLeftX())
276276
.withRotationalRate(
277277
SwerveConstants.azimuthController.calculate(
278278
swerve.getPigeon2().getAngle(),
@@ -286,8 +286,8 @@ public void configureSwerve() {
286286
swerve.applyRequest(
287287
() ->
288288
drive
289-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
290-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
289+
.withVelocityX(m_driverController.getLeftY())
290+
.withVelocityY(m_driverController.getLeftX())
291291
.withRotationalRate(
292292
SwerveConstants.azimuthController.calculate(
293293
swerve.getPigeon2().getAngle(),
@@ -301,8 +301,8 @@ public void configureSwerve() {
301301
swerve.applyRequest(
302302
() ->
303303
drive
304-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
305-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
304+
.withVelocityX(m_driverController.getLeftY())
305+
.withVelocityY(m_driverController.getLeftX())
306306
.withRotationalRate(
307307
SwerveConstants.azimuthController.calculate(
308308
swerve.getPigeon2().getAngle(),
@@ -316,8 +316,8 @@ public void configureSwerve() {
316316
swerve.applyRequest(
317317
() ->
318318
drive
319-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
320-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
319+
.withVelocityX(m_driverController.getLeftY())
320+
.withVelocityY(m_driverController.getLeftX())
321321
.withRotationalRate(
322322
SwerveConstants.azimuthController.calculate(
323323
swerve.getPigeon2().getAngle(),
@@ -331,8 +331,8 @@ public void configureSwerve() {
331331
swerve.applyRequest(
332332
() ->
333333
drive
334-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
335-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
334+
.withVelocityX(m_driverController.getLeftY())
335+
.withVelocityY(m_driverController.getLeftX())
336336
.withRotationalRate(
337337
SwerveConstants.azimuthController.calculate(
338338
swerve.getPigeon2().getAngle(),
@@ -349,8 +349,8 @@ public void configureSwerve() {
349349
swerve.applyRequest(
350350
() ->
351351
drive
352-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
353-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
352+
.withVelocityX(m_driverController.getLeftY())
353+
.withVelocityY(m_driverController.getLeftX())
354354
.withRotationalRate(
355355
SwerveConstants.azimuthController.calculate(
356356
swerve.getPigeon2().getAngle(),
@@ -364,8 +364,8 @@ public void configureSwerve() {
364364
swerve.applyRequest(
365365
() ->
366366
drive
367-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
368-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
367+
.withVelocityX(m_driverController.getLeftY())
368+
.withVelocityY(m_driverController.getLeftX())
369369
.withRotationalRate(
370370
SwerveConstants.azimuthController.calculate(
371371
swerve.getPigeon2().getAngle(),
@@ -379,8 +379,8 @@ public void configureSwerve() {
379379
swerve.applyRequest(
380380
() ->
381381
drive
382-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
383-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
382+
.withVelocityX(m_driverController.getLeftY())
383+
.withVelocityY(m_driverController.getLeftX())
384384
.withRotationalRate(
385385
SwerveConstants.azimuthController.calculate(
386386
swerve.getPigeon2().getAngle(),
@@ -394,8 +394,8 @@ public void configureSwerve() {
394394
swerve.applyRequest(
395395
() ->
396396
drive
397-
.withVelocityX(m_driverController.getLeftY() * SlowMaxSpeed)
398-
.withVelocityY(m_driverController.getLeftX() * SlowMaxSpeed)
397+
.withVelocityX(m_driverController.getLeftY())
398+
.withVelocityY(m_driverController.getLeftX())
399399
.withRotationalRate(
400400
SwerveConstants.azimuthController.calculate(
401401
swerve.getPigeon2().getAngle(),

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