fixed auton, controller, blah

FRC830 · Dec 15, 2024 · 5826f1b · 5826f1b
1 parent caa176e
commit 5826f1b
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Showing 3 changed files with 9 additions and 14 deletions.
diff --git a/src/main/cpp/ControllerInterface.cpp b/src/main/cpp/ControllerInterface.cpp
@@ -23,8 +23,8 @@ void ControllerInterface::UpdateSwerveInput(RobotControlData &controlData)
 {
     controlData.swerveInput.slowMode = m_pilot.GetLeftBumper();
 
-    controlData.swerveInput.xTranslation = -m_pilot.GetLeftY();
-    controlData.swerveInput.yTranslation = -m_pilot.GetLeftX();
+    controlData.swerveInput.xTranslation = -m_pilot.GetLeftX();
+    controlData.swerveInput.yTranslation = -m_pilot.GetLeftY();
     controlData.swerveInput.rotation = -m_pilot.GetRightX();
 
     if (controlData.swerveInput.slowMode)

diff --git a/src/main/cpp/InputManager/ElevatorManager.cpp b/src/main/cpp/InputManager/ElevatorManager.cpp
@@ -17,5 +17,5 @@ void ElevatorManager::HandleInput(RobotControlData& control_data) {
     }
 };
 void ElevatorManager::Reset(){
-    m_elevator.ProfiledMoveToHeight(0);
+    m_elevator.ProfiledMoveToHeight(0); 
 };
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -45,7 +45,7 @@ void Robot::AutonomousInit() {
   // m_autoSelected = m_chooser.GetSelected();
   // m_autoSelected = frc::SmartDashboard::GetString("Auto Selector", kAutoNameDefault);
   // fmt::print("Auto selected: {}\n", m_autoSelected);
-
+  
   if (m_autoSelected == kAutoNameCustom) {
     // Custom Auto goes here
   } else {
@@ -54,22 +54,16 @@ void Robot::AutonomousInit() {
 }
 
 void Robot::AutonomousPeriodic() {
-  m_timer.Reset();
-  m_timer.Start();
 
-  while(m_timer.Get() < 10_s)
-  {
-    _swerve.Drive(0.7, 0.0, 0.0);
-  }
+
+  _swerve.Drive(0.24, 0.0, 0.0);
+
+
   if (m_autoSelected == kAutoNameCustom) {
     // Custom Auto goes here
   } else {
     // Default Auto goes here
   }
-
-  _swerve.Drive(0.0, 0.0, 0.0);
-  m_timer.Reset();
-  TeleopPeriodic();
 }
 
 void Robot::TeleopInit() {
@@ -91,6 +85,7 @@ void Robot::DisabledInit() {}
 void Robot::DisabledPeriodic() {}
 
 void Robot::TestInit() {
+  _swerve.Drive(0.24, 0.0, 0.0);
 
 }