src/main/java/frc/robot/Robot.java
/** This function is called periodically during operator control. */
This function is called periodically during operator control.
This function is called periodically during operator control .
@Override
  public void teleopPeriodic() {
    driveWithJoystick();
    int pov = m_joy.getPOV();
    if (pov == 90) {
      final var rot = m_rotLimiter.calculate(MathUtil.applyDeadband(1.0, 0.02)) * Drivetrain.kMaxAngularSpeed;
      m_swerve.drive(0, 0, rot);
    } else if (pov == 270) {
      final var rot = m_rotLimiter.calculate(MathUtil.applyDeadband(-1.0, 0.02)) * Drivetrain.kMaxAngularSpeed;
      m_swerve.drive(0, 0, rot);
    }
  }
@ Override public void teleopPeriodic ( ) { driveWithJoystick ( ) ; int pov = m_joy . getPOV ( ) ; if ( pov == 90 ) { final var rot = m_rotLimiter . calculate ( MathUtil . applyDeadband ( 1.0 , 0.02 ) ) * Drivetrain . kMaxAngularSpeed ; m_swerve . drive ( 0 , 0 , rot ) ; } else if ( pov == 270 ) { final var rot = m_rotLimiter . calculate ( MathUtil . applyDeadband ( - 1.0 , 0.02 ) ) * Drivetrain . kMaxAngularSpeed ; m_swerve . drive ( 0 , 0 , rot ) ; } }
This function is called periodically during operator control.
This function is called periodically during operator control .