Team4388/2025RidgeScape
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Add code from yesterday

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This commit is contained in:
Michael Mikovsky
2025-02-04 16:34:54 -07:00
parent 7fa93e6892
commit 3cacb7743e
4 changed files with 67 additions and 3 deletions
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src/main/java/frc4388/robot/commands/GotoLastApril.java
+12
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@@ -75,6 +75,14 @@ public class GotoLastApril extends Command {
0
);
Rotation2d error = new Translation2d(xerr, yerr).getAngle();
error = error.rotateBy(Rotation2d.fromDegrees(-rotoutput));
double tagRelativeXError = error.getSin();
System.out.println(tagRelativeXError);
// SmartDashboard.putNumber("PID X Output", xoutput);
// SmartDashboard.putNumber("PID Y Output", youtput);
// // SmartDashboard.putNumber("PID Y Output", youtput);
@@ -86,6 +94,10 @@ public class GotoLastApril extends Command {
public final boolean isFinished() {
boolean finished = (Math.abs(xerr) < AutoConstants.XY_TOLERANCE && Math.abs(yerr) < AutoConstants.XY_TOLERANCE && Math.abs(roterr) < AutoConstants.ROT_TOLERANCE);
// System.out.println(finished);
if(finished)
swerveDrive.softStop();
return finished;
// this statement is a boolean in and of itself
}