Merge remote-tracking branch 'refs/remotes/origin/main'

SFUnity · Nov 23, 2024 · 9f5e872 · 9f5e872
2 parents 6be03db + 1049873
commit 9f5e872
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java b/src/main/java/frc/robot/subsystems/drive/DriveIOSim.java
@@ -20,6 +20,7 @@
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotGearing;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotMotor;
 import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim.KitbotWheelSize;
+import frc.robot.util.loggedShuffleboardClasses.LoggedShuffleboardNumber;
 
 public class DriveIOSim implements DriveIO {
   private DifferentialDrivetrainSim sim =
@@ -29,6 +30,8 @@ public class DriveIOSim implements DriveIO {
   private double leftAppliedVolts = 0.0;
   private double rightAppliedVolts = 0.0;
 
+  public LoggedShuffleboardNumber speedsMultiplier = new LoggedShuffleboardNumber(null, null, leftAppliedVolts);
+
   @Override
   public void updateInputs(DriveIOInputs inputs) {
     sim.update(0.02);
@@ -48,8 +51,10 @@ public void updateInputs(DriveIOInputs inputs) {
   @Override
   public void arcadeDrive(double xSpeed, double omegaRotation) {
     var speeds = DifferentialDrive.arcadeDriveIK(xSpeed, omegaRotation, true);
-    leftAppliedVolts = MathUtil.clamp(speeds.left * 12.0, -12.0, 12.0);
-    rightAppliedVolts = MathUtil.clamp(speeds.right * 12.0, -12.0, 12.0);
+    // leftAppliedVolts = MathUtil.clamp(speeds.left * 12.0, -12.0, 12.0);
+    // rightAppliedVolts = MathUtil.clamp(speeds.right * 12.0, -12.0, 12.0);
+    leftAppliedVolts = speeds.left * speedsMultiplier;
+    rightAppliedVolts = speeds.right * speedsMultiplier;
     sim.setInputs(leftAppliedVolts, rightAppliedVolts);
   }
 }