Team4388/2025RidgeScape
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This commit is contained in:
Michael Mikovsky
2025-02-19 21:28:28 -07:00
parent 2641abe8a4
commit c5c6dd2eed
5 changed files with 108 additions and 27 deletions
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src/main/java/frc4388/robot/commands/GotoLastApril.java
+2
View File
@@ -78,6 +78,8 @@ public class GotoLastApril extends Command {
youtput *= Math.abs(yerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
rotoutput *= Math.abs(roterr) < AutoConstants.ROT_TOLERANCE ? 0 : 1;
// System.out.println(xerr + ", " + yerr + ", " + roterr + ", " + rotoutput);
Translation2d leftStick = new Translation2d(
Math.max(Math.min(-youtput, 1), -1),
Math.max(Math.min(-xoutput, 1), -1)
src/main/java/frc4388/robot/commands/LidarAlign.java
+2 -2
View File
@@ -39,7 +39,7 @@ public class LidarAlign extends Command {
this.currentFinderTick = 0;
this.speed = 0.4; // TODO: find good speed for this
this.foundReef = false;
this.headedRight = !(GotoLastApril.tagRelativeXError < 0);
this.headedRight = (GotoLastApril.tagRelativeXError < 0);
}
@@ -52,7 +52,7 @@ public class LidarAlign extends Command {
return;
}
if (currentFinderTick > 100) { //arbutrary threshhold for now.
if (currentFinderTick > 40) { //arbutrary threshhold for now.
headedRight = !headedRight;
currentFinderTick *= -1;
}