Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

x /= i^2

Browse Source
This commit is contained in:
Michael Mikovsky
2025-02-24 17:59:44 -07:00
parent 761a56cf0f
commit 07841b303a
6 changed files with 71 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/utility/ReefPositionHelper.java
+4 -7
View File
@@ -63,14 +63,11 @@ public class ReefPositionHelper {
* Function to find closest tag location based on side
*/
public static Pose2d getNearestTag(Pose2d position) {
Optional<Alliance> ally = DriverStation.getAlliance();
if (!ally.isPresent())
return new Pose2d();
if (ally.get() == Alliance.Red)
if(TimesNegativeOne.isRed)
return getNearestTag(RED_TAGS, position);
if (ally.get() == Alliance.Blue)
return getNearestTag(BLUE_TAGS, position);
return new Pose2d();
else
return getNearestTag(BLUE_TAGS, position);
}
public static Pose2d getNearestPosition(Pose2d position, Side side, double xtrim, double ydistance) {