Team4388/2026KPopRobotHunters
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fix simulation auto

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This commit is contained in:
mimigamin
2026-03-14 15:41:27 -06:00
parent 2de8c60597
commit 07ec609b01
3 changed files with 27 additions and 12 deletions
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simgui-ds.json
-5
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@@ -1,9 +1,4 @@
{ {
"System Joysticks": {
"window": {
"enabled": false
}
},
"keyboardJoysticks": [ "keyboardJoysticks": [
{ {
"axisConfig": [ "axisConfig": [
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_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 156; public static final int GIT_REVISION = 157;
public static final String GIT_SHA = "0d98232f30a0663939bef0d21533e1603090c7cd"; public static final String GIT_SHA = "2de8c605970a55114d3a66ebfb26160df3e0aa50";
public static final String GIT_DATE = "2026-03-12 18:13:33 MDT"; public static final String GIT_DATE = "2026-03-12 18:35:44 MDT";
public static final String GIT_BRANCH = "MiraOrg"; public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-12 18:30:13 MDT"; public static final String BUILD_DATE = "2026-03-14 15:24:12 MDT";
public static final long BUILD_UNIX_TIME = 1773361813662L; public static final long BUILD_UNIX_TIME = 1773523452704L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
+22 -2
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@@ -8,6 +8,8 @@ import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotBase;
import frc4388.robot.subsystems.vision.VisionIO.PoseObservation; import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
public class SimpleSwerveSim implements SwerveIO { public class SimpleSwerveSim implements SwerveIO {
@@ -100,9 +102,27 @@ public class SimpleSwerveSim implements SwerveIO {
lastTimeNs = now; lastTimeNs = now;
lastPose = pose; lastPose = pose;
double dxField;
double dyField;
if (DriverStation.isAutonomous()) {
double dxRobot = vx * dt;
double dyRobot = vy * dt;
Rotation2d r = pose.getRotation();
double cos = r.getCos();
double sin = r.getSin();
dxField = dxRobot * cos - dyRobot * sin;
dyField = dxRobot * sin + dyRobot * cos;
} else {
dxField = vx * dt;
dyField = vy * dt;
}
double dxField = vx * dt;
double dyField = vy * dt;
double dTheta = omega * dt; double dTheta = omega * dt;
Translation2d newTrans = pose.getTranslation().plus(new Translation2d(dxField, dyField)); Translation2d newTrans = pose.getTranslation().plus(new Translation2d(dxField, dyField));