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KCMT - Record target position and rotation decease

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This commit is contained in:
Michael Mikovsky
2025-10-11 16:35:41 -07:00
parent 4d20c50642
commit 52fc524c0f
3 changed files with 10 additions and 6 deletions
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src/main/java/frc4388/robot/commands/alignment/DriveToReef.java
+4
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@@ -1,5 +1,7 @@
package frc4388.robot.commands.alignment;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.util.Units;
@@ -60,6 +62,8 @@ public class DriveToReef extends Command {
Units.inchesToMeters(AutoConstants.X_OFFSET_TRIM.get()),
distance + Units.inchesToMeters(AutoConstants.Y_OFFSET_TRIM.get())
);
Logger.recordOutput("SwerveDrive", targetpos);
}
double xerr;
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2025RidgeScape";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 182;
public static final String GIT_SHA = "88a4a00c29a2e2bdd9c14715807a8fd26499f9cf";
public static final String GIT_DATE = "2025-10-10 20:22:54 MDT";
public static final int GIT_REVISION = 183;
public static final String GIT_SHA = "4d20c5064279d9e0ac890c93e644e81dbabf929c";
public static final String GIT_DATE = "2025-10-11 15:24:47 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-10-11 14:12:35 MDT";
public static final long BUILD_UNIX_TIME = 1760213555484L;
public static final String BUILD_DATE = "2025-10-11 16:46:07 MDT";
public static final long BUILD_UNIX_TIME = 1760222767896L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+1 -1
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@@ -66,7 +66,7 @@ public final class Constants {
public static final Trim ARM_OFFSET_TRIM = new Trim("ARM Offset Trim", -ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, ElevatorConstants.COMPLETLY_TOP_ENDEFFECTOR, 1, 0);
public static final double XY_TOLERANCE = 0.07; // Meters
public static final double ROT_TOLERANCE = 5; // Degrees
public static final double ROT_TOLERANCE = 3; // Degrees
public static final double MIN_XY_PID_OUTPUT = 0.0;
public static final double MIN_ROT_PID_OUTPUT = 0.0;