Created faster drivetrain speed button (#313)

FRCTeam3255 · Mar 24, 2022 · b9cc0a5 · b9cc0a5
1 parent 17837a1
commit b9cc0a5
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diff --git a/src/main/java/frc/robot/RobotPreferences.java b/src/main/java/frc/robot/RobotPreferences.java
@@ -32,6 +32,7 @@ public static final class DrivetrainPrefs {
     public static final SN_DoublePreference arcadeSpeed = new SN_DoublePreference("arcadeSpeed", 0.65);
     public static final SN_DoublePreference arcadeTurn = new SN_DoublePreference("arcadeTurn", .5);
     public static final SN_DoublePreference arcadeLowSpeed = new SN_DoublePreference("arcadeLowSpeed", 0.4);
+    public static final SN_DoublePreference arcadeHighSpeed = new SN_DoublePreference("arcadeHighSpeed", 1.5);
 
     public static final SN_DoublePreference driveF = new SN_DoublePreference("driveF", 0);
     public static final SN_DoublePreference driveP = new SN_DoublePreference("driveP", 1);

diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -171,6 +171,10 @@ public void arcadeDrive(double a_speed, double a_turn) {
       multiplier = RobotPreferences.DrivetrainPrefs.arcadeLowSpeed.getValue();
     }
 
+    if (RobotContainer.DriverStick.btn_RBump.get()) {
+      multiplier = RobotPreferences.DrivetrainPrefs.arcadeHighSpeed.getValue();
+    }
+
     leftLeadMotor.set(ControlMode.PercentOutput, speed * multiplier, DemandType.ArbitraryFeedForward, turn);
     rightLeadMotor.set(ControlMode.PercentOutput, speed * multiplier, DemandType.ArbitraryFeedForward, -turn);
   }