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

Auto align scoring

Browse Source
This commit is contained in:
Michael Mikovsky
2025-02-18 19:39:01 -07:00
parent 47646dc12b
commit 2641abe8a4
7 changed files with 180 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/utility/ReefPositionHelper.java
+2 -2
View File
@@ -72,10 +72,10 @@ public class ReefPositionHelper {
return new Pose2d();
}
public static Pose2d getNearestPosition(Pose2d position, Side side, double xtrim) {
public static Pose2d getNearestPosition(Pose2d position, Side side, double xtrim, double ydistance) {
return offset(getNearestTag(position),
(side == Side.LEFT ? -(FieldConstants.HORISONTAL_SCORING_POSITION_OFFSET) : (FieldConstants.HORISONTAL_SCORING_POSITION_OFFSET)) + xtrim,
FieldConstants.VERTICAL_SCORING_POSITION_OFFSET);
ydistance);
}