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Auto align Consistency improvements

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This commit is contained in:
Michael Mikovsky
2025-02-28 11:46:48 -07:00
parent a063f4b309
commit 90684ffc7b
7 changed files with 85 additions and 139 deletions
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src/main/java/frc4388/utility/ReefPositionHelper.java
+3 -2
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@@ -7,6 +7,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import frc4388.robot.Constants.AutoConstants;
import frc4388.robot.Constants.FieldConstants;
public class ReefPositionHelper {
@@ -79,9 +80,9 @@ public class ReefPositionHelper {
public static double getSide(Side side){
switch(side) {
case LEFT:
return -(FieldConstants.HORISONTAL_SCORING_POSITION_OFFSET);
return -(AutoConstants.X_SCORING_POSITION_OFFSET);
case RIGHT:
return (FieldConstants.HORISONTAL_SCORING_POSITION_OFFSET);
return (AutoConstants.X_SCORING_POSITION_OFFSET);
case CENTER:
return 0;
}