All the things

SteelRidgeRobotics · Jun 14, 2022 · c9c2de2 · c9c2de2
1 parent dfd0851
commit c9c2de2
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/Larry/conversions.py b/Larry/conversions.py
@@ -18,6 +18,7 @@ def sign(num) -> int:
 
     def convertJoystickInputToDegrees(x: float, y: float):
         return float(math.degrees(math.atan2(y, x)))
+
     def deadband(value: float, deadband: float):
         if math.fabs(value) >= deadband:
             return 0

diff --git a/Larry/simgui-window.json b/Larry/simgui-window.json
@@ -14,7 +14,7 @@
     "###FMS": {
       "Collapsed": "0",
       "Pos": "6,675",
-      "Size": "281,190"
+      "Size": "336,164"
     },
     "###Joysticks": {
       "Collapsed": "0",
@@ -23,7 +23,7 @@
     },
     "###NetworkTables": {
       "Collapsed": "0",
-      "Pos": "479,267",
+      "Pos": "481,267",
       "Size": "949,231"
     },
     "###Other Devices": {

diff --git a/Larry/simgui.json b/Larry/simgui.json
@@ -17,9 +17,6 @@
     }
   },
   "NetworkTables": {
-    "LiveWindow": {
-      "open": true
-    },
     "SmartDashboard": {
       "open": true
     }

diff --git a/Larry/subsystems/swerve_drive.py b/Larry/subsystems/swerve_drive.py
@@ -4,6 +4,7 @@
 import math
 import conversions
 import wpimath.controller
+import wpilib
 class SwerveWheel:
     def __init__(self, directionMotor: ctre.TalonFX, speedMotor: ctre.TalonFX, P: float, I: float, D: float):
         # we assume that all the motors are the same: Falcon 500s
@@ -91,6 +92,7 @@ def __init__(self) -> None:
         # May try to make a file/method to use the position to do so
 
         #call gyro
+        self.gyro = wpilib.ADXRS450_Gyro()
 
     def stopMotors(self):
         self.frontLeftDirection.set(ctre.TalonFXControlMode.PercentOutput, 0.0)