commented elvis

Team334 · Mar 12, 2024 · 6ad5ab0 · 6ad5ab0
1 parent bbfc6e8
commit 6ad5ab0
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Showing 2 changed files with 24 additions and 19 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -167,9 +167,8 @@ private void configureBindings() {
     _driveController.R1().onTrue(Commands.runOnce(() -> _swerveSubsystem.fieldOriented = !_swerveSubsystem.fieldOriented, _swerveSubsystem));
     _driveController.L1().onTrue(Commands.runOnce(() -> _swerveSubsystem.resetPose(new Pose2d()), _swerveSubsystem));
     _driveController.cross().whileTrue(new BrakeSwerve(_swerveSubsystem, _ledSubsystem));
-    _driveController.L2().onTrue(Commands.runOnce(() -> _swerveSubsystem.toggleSpeed(), _swerveSubsystem));
-
-
+    _driveController.L2().onTrue(Commands.runOnce(_swerveSubsystem::toggleSpeed, _swerveSubsystem));
+
     _driveController.R2().whileTrue(
       new AutoAim(
         _shooterSubsystem,

diff --git a/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java b/src/main/java/frc/robot/subsystems/SwerveDriveSubsystem.java
@@ -206,6 +206,28 @@ private void setupOrchestra() {
     _orchestra.play();
   }
 
+  /**
+   * Toggle the driving speed between slow/fast.
+   */
+  public void toggleSpeed(){
+    if (_drivingState == DrivingSpeeds.FAST) {
+      _drivingState = DrivingSpeeds.SLOW;
+    } else {
+      _drivingState = DrivingSpeeds.FAST;
+    }
+  }
+
+  /**
+   * Get drive coeff based on toggled speed.
+   */
+  public double getDriveCoeff() {
+    if (_drivingState == DrivingSpeeds.FAST) {
+      return Constants.Speeds.SWERVE_DRIVE_FAST_COEFF;
+    } else {
+      return Constants.Speeds.SWERVE_DRIVE_SLOW_COEFF;
+    }
+  }
+
   /**
    * Set the chassis speed of the swerve drive.
    *
@@ -337,20 +359,4 @@ public void pivotMotor(Translation2d pivotPoint) {
   public void resetPivot() {
     _pivotPoint = new Translation2d(0, 0);
   }
-
-  public void toggleSpeed(){
-    if (_drivingState == DrivingSpeeds.FAST) {
-      _drivingState = DrivingSpeeds.SLOW;
-    } else {
-      _drivingState = DrivingSpeeds.FAST;
-    }
-  }
-
-  public double getDriveCoeff() {
-    if (_drivingState == DrivingSpeeds.FAST) {
-      return Constants.Speeds.SWERVE_DRIVE_FAST_COEFF;
-    } else {
-      return Constants.Speeds.SWERVE_DRIVE_SLOW_COEFF;
-    }
-  }
 }