test2

FRC830 · Dec 15, 2024 · ae0d393 · ae0d393
1 parent 07f3b0e
commit ae0d393
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -56,7 +56,7 @@ void Robot::AutonomousInit() {
 void Robot::AutonomousPeriodic() {
 
 
-  _swerve.Drive(0.6, 0.0, 0.0);
+  _swerve.Drive(0.5, 0.0, 0.0);
 
 
   if (m_autoSelected == kAutoNameCustom) {
@@ -72,7 +72,7 @@ void Robot::TeleopInit() {
 }
 
 void Robot::TeleopPeriodic() {
- // PrintSwerveInfo();
+  PrintSwerveInfo();
 
   controllerInterface.UpdateRobotControlData(_robot_control_data);
   _swerve.Drive(_robot_control_data.swerveInput.xTranslation, _robot_control_data.swerveInput.yTranslation, _robot_control_data.swerveInput.rotation);

diff --git a/src/main/include/SwerveConfig.h b/src/main/include/SwerveConfig.h
@@ -147,7 +147,7 @@ const double DRIVE_FF = 0.0;
 
 // --------------------------Gyro-----------------------------
 const bool GYRO_INVERTED = true;
-const frc::Rotation2d GYRO_ZERO_HEADING{units::degree_t{0.0f}};
+const frc::Rotation2d GYRO_ZERO_HEADING{units::degree_t{90.0f}};
 
 // --------------------------Swerve---------------------------
 const double MAX_DRIVE_SPEED_FPS = 5.0;