From cb69b6991e5ebc30a15a74a176041344cb99479a Mon Sep 17 00:00:00 2001 From: 2141Robotics <111778523+2141Robotics@users.noreply.github.com> Date: Tue, 11 Feb 2025 20:16:01 -0800 Subject: [PATCH] Update SwerveDrive.java --- quail/src/main/java/com/mineinjava/quail/SwerveDrive.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/quail/src/main/java/com/mineinjava/quail/SwerveDrive.java b/quail/src/main/java/com/mineinjava/quail/SwerveDrive.java index 7939bdf..13800f6 100644 --- a/quail/src/main/java/com/mineinjava/quail/SwerveDrive.java +++ b/quail/src/main/java/com/mineinjava/quail/SwerveDrive.java @@ -71,11 +71,11 @@ public SwerveDrive(List swerveModules, double maxModuleSpeed) { * @param rotationSpeed speed of rotation * @param centerPoint modified center of rotation. Pass in Vec2d(0, 0) for default center of * rotation - * @param gyroOffset the gyro rotation in radians + * @param gyroOffset the gyro's rotation in radians */ public Vec2d[] calculateMoveAngles( - Vec2d moveVector, double rotationSpeed, double gyroOffset, Vec2d centerPoint) { - moveVector = moveVector.rotate(gyroOffset, false); + Vec2d moveVector, double rotationSpeed, double gyroAngle, Vec2d centerPoint) { + moveVector = moveVector.rotate(gyroAngle, false); // create a list of four vec2d objects and iterate over them with a for loop (not foreach) Vec2d[] moduleVectors = new Vec2d[this.swerveModules.size()]; for (int i = 0; i < this.swerveModules.size(); i++) {