Scale the input by 80% power

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jul 29, 2024 · 7451ce3 · 7451ce3
1 parent 075d5b6
commit 7451ce3
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -252,8 +252,8 @@ public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translat
     // swerveDrive.setHeadingCorrection(true); // Normally you would want heading correction for this kind of control.
     return run(() -> {
 
-      Translation2d scaledInputs = SwerveMath.cubeTranslation(new Translation2d(translationX.getAsDouble(),
-                                                                                translationY.getAsDouble()));
+      Translation2d scaledInputs = SwerveMath.scaleTranslation(new Translation2d(translationX.getAsDouble(),
+                                                                                translationY.getAsDouble()), 0.8);
 
       // Make the robot move
       driveFieldOriented(swerveDrive.swerveController.getTargetSpeeds(scaledInputs.getX(), scaledInputs.getY(),
@@ -325,9 +325,9 @@ public Command driveCommand(DoubleSupplier translationX, DoubleSupplier translat
   {
     return run(() -> {
       // Make the robot move
-      swerveDrive.drive(SwerveMath.cubeTranslation(new Translation2d(
+      swerveDrive.drive(SwerveMath.scaleTranslation(new Translation2d(
                             translationX.getAsDouble() * swerveDrive.getMaximumVelocity(),
-                            translationY.getAsDouble() * swerveDrive.getMaximumVelocity())),
+                            translationY.getAsDouble() * swerveDrive.getMaximumVelocity()), 0.8),
                         Math.pow(angularRotationX.getAsDouble(), 3) * swerveDrive.getMaximumAngularVelocity(),
                         true,
                         false);