invert turn for eamon

poly-rabbotics · Oct 23, 2023 · 57ea030 · 57ea030
1 parent 4a67144
commit 57ea030
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diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -51,6 +51,7 @@ public enum ControlMode {
     private static Robot instance;
 
     private ControlMode controlMode = ControlMode.DISABLED;
+    private boolean invertedTurn = false;
 
     /**
      * Exists only to enable static methods to gain access to non static data,
@@ -158,6 +159,16 @@ public void teleopPeriodic() {
             );
         }
 
+        if (controllerOne.getRightStickButtonReleased()) {
+            SwerveDrive.setTurnCurve(
+                invertedTurn
+                    ? Controls::defaultCurve
+                    : Controls::invertedCurve
+            );
+
+            invertedTurn = !invertedTurn;
+        }
+
         if (controllerOne.getRightStickButtonReleased()) {
             var accelerationRate = SwerveDrive.getAccelerationRate();
             SwerveDrive.setAccelerationRate(

diff --git a/src/main/java/frc/robot/systems/Controls.java b/src/main/java/frc/robot/systems/Controls.java
@@ -58,6 +58,10 @@ public static double defaultCurve(double x) {
         return Math.pow(x, DEFAULT_CURVE_EXPONENT);
     }
 
+    public static double invertedCurve(double x) {
+        return -defaultCurve(x);
+    }
+
     /**
      * Custom turning curve for Rohan.
      */