Team4388/2026KPopRobotHunters
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Shikhar
2026-02-24 22:17:58 -07:00
parent a09a039cb8
commit 3197a3dce0
3 changed files with 13 additions and 7 deletions
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src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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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 = 79; public static final int GIT_REVISION = 84;
public static final String GIT_SHA = "ff0cff819cc7280a353d7ce86999efe16661f33b"; public static final String GIT_SHA = "a09a039cb8a5bef1ee897d3307355d975eefd232";
public static final String GIT_DATE = "2026-02-23 16:58:14 MST"; public static final String GIT_DATE = "2026-02-24 16:46:17 MST";
public static final String GIT_BRANCH = "operator-controls"; public static final String GIT_BRANCH = "reveal-night";
public static final String BUILD_DATE = "2026-02-23 17:28:16 MST"; public static final String BUILD_DATE = "2026-02-24 18:42:57 MST";
public static final long BUILD_UNIX_TIME = 1771892896573L; public static final long BUILD_UNIX_TIME = 1771983777848L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+6
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@@ -4,6 +4,8 @@
package frc4388.robot.subsystems.swerve; package frc4388.robot.subsystems.swerve;
import static edu.wpi.first.units.Units.Rotations;
import java.util.function.Supplier; import java.util.function.Supplier;
import org.littletonrobotics.junction.AutoLogOutput; import org.littletonrobotics.junction.AutoLogOutput;
@@ -245,6 +247,10 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
leftStick.rotateBy(TimesNegativeOne.ForwardOffset); leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
if(!TimesNegativeOne.isRed) {
leftStick.rotateBy(new Rotation2d(Math.PI/2.));
}
io.setControl(new SwerveRequest.FieldCentricFacingAngle() io.setControl(new SwerveRequest.FieldCentricFacingAngle()
.withVelocityX(leftStick.getX() * speedAdjust) .withVelocityX(leftStick.getX() * speedAdjust)
.withVelocityY(leftStick.getY() * speedAdjust) .withVelocityY(leftStick.getY() * speedAdjust)
src/main/java/frc4388/utility/compute/FieldPositions.java
+1 -1
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@@ -6,7 +6,7 @@ public class FieldPositions {
// public static final Translation2d RED_HUB_POSITION = new Translation2d(0, 0); // public static final Translation2d RED_HUB_POSITION = new Translation2d(0, 0);
// public static final Translation2d BLUE_HUB_POSITION = new Translation2d(0, 0); // public static final Translation2d BLUE_HUB_POSITION = new Translation2d(0, 0);
public static final Translation2d RED_HUB_POSITION = new Translation2d(11.9014494, 4.0213534 + 0.3); public static final Translation2d RED_HUB_POSITION = new Translation2d(11.9014494, 4.0213534 + 0.3);
public static final Translation2d BLUE_HUB_POSITION = new Translation2d(4.61155415, 4.0213534 + 0.3); public static final Translation2d BLUE_HUB_POSITION = new Translation2d(4.61155415, 4.0213534);// + 0.3);
// We set the default position to one just in case it doesn't update // We set the default position to one just in case it doesn't update