[swerve] Apply deadzone to controller (#76)

CurtinFRC · Jul 9, 2024 · e23532d · e23532d
1 parent 2cc4a52
commit e23532d
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -51,10 +51,13 @@ private void configureBindings() {
         m_drivetrain.applyRequest(
             () ->
                 drive
-                    .withVelocityX(-m_driver.getLeftY() * Constants.DrivebaseMaxSpeed)
-                    .withVelocityY(-m_driver.getLeftX() * Constants.DrivebaseMaxSpeed)
+                    .withVelocityX(
+                        Utils.deadzone(-m_driver.getLeftY() * Constants.DrivebaseMaxSpeed))
+                    .withVelocityY(
+                        Utils.deadzone(-m_driver.getLeftX() * Constants.DrivebaseMaxSpeed))
                     .withRotationalRate(
-                        -m_driver.getRightX() * Constants.DrivebaseMaxAngularRate)));
+                        Utils.deadzone(
+                            -m_driver.getRightX() * Constants.DrivebaseMaxAngularRate))));
 
     m_driver.a().whileTrue(m_drivetrain.applyRequest(() -> brake));
     m_driver.x().onTrue(m_drivetrain.runOnce(() -> m_drivetrain.seedFieldRelative()));