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created a power distribution object #51

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created a power distribution object #51

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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
Expand Down Expand Up @@ -70,6 +71,7 @@ public class Robot extends TimedRobot {
private final double kMaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private final double kMaxHighAngularRate = RotationsPerSecond.of(1.5).in(RadiansPerSecond);
private final Telemetry logger = new Telemetry(kMaxTranslationSpeed);
private final PowerDistribution powerDistribution = new PowerDistribution(0);

/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
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