Team4388/2026KPopRobotHunters
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mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
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Fix error

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This commit is contained in:
mimigamin
2026-03-12 18:35:44 -06:00
parent 0d98232f30
commit 2de8c60597
3 changed files with 22 additions and 11 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -6
View File
@@ -245,13 +245,11 @@ public class RobotContainer {
// IF the driver is holding the aim button, aim the robot towards the hub and shooter ready // IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5) new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
.onTrue(new InstantCommand( .whileTrue(new RunCommand(() -> m_robotSwerveDrive.driveFacingPosition(
() -> m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION, FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get() ShooterConstants.AIM_LEAD_TIME.get()
), m_robotSwerveDrive) ), m_robotSwerveDrive)
// }, m_robotSwerveDrive)
// () -> { // () -> {
// m_robotSwerveDrive.driveFacingVelocity( // m_robotSwerveDrive.driveFacingVelocity(
// getDeadbandedDriverController().getLeft(), // getDeadbandedDriverController().getLeft(),
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 = 155; public static final int GIT_REVISION = 156;
public static final String GIT_SHA = "af3646ff4378382f3bfcce6ab7828823bb76be21"; public static final String GIT_SHA = "0d98232f30a0663939bef0d21533e1603090c7cd";
public static final String GIT_DATE = "2026-03-12 18:06:12 MDT"; public static final String GIT_DATE = "2026-03-12 18:13:33 MDT";
public static final String GIT_BRANCH = "MiraOrg"; public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-12 18:11:48 MDT"; public static final String BUILD_DATE = "2026-03-12 18:30:13 MDT";
public static final long BUILD_UNIX_TIME = 1773360708923L; public static final long BUILD_UNIX_TIME = 1773361813662L;
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
+13
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@@ -78,6 +78,19 @@ public class SimpleSwerveSim implements SwerveIO {
return 0.0; return 0.0;
} }
public synchronized void pointAtXY(double x, double y) {
Translation2d target = new Translation2d(x, y);
Translation2d toTarget = target.minus(pose.getTranslation());
if (toTarget.getNorm() < 1e-9) return;
Rotation2d desired = toTarget.getAngle();
pose = new Pose2d(pose.getTranslation(), desired);
lastPose = pose;
vx = 0.0;
vy = 0.0;
omega = 0.0;
}
@Override @Override
public synchronized void updateInputs(SwerveState state) { public synchronized void updateInputs(SwerveState state) {
if (state == null) return; if (state == null) return;