Team4388/2026KPopRobotHunters
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Move AimLeadTime to being defined by ShooterConstants.

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This commit is contained in:
Michael Mikovsky
2026-02-20 15:24:05 -08:00
parent 803371e99d
commit 32ede81ffa
4 changed files with 7 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+1
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@@ -24,6 +24,7 @@ public class ShooterConstants {
public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.1);
public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.0);
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
// Shoot mode tolerances
public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 0);
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+2 -2
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@@ -339,7 +339,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
// Drive with the robot facing towards a specific position
public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos) {
public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos, double aimLeadTime) {
// Get the current speed of the robot
Translation2d robotSpeed = new Translation2d(
@@ -348,7 +348,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
);
// Calculate a point to aim ahead of the actual position.
Translation2d fieldPosLead = robotSpeed.times(SwerveDriveConstants.AIM_LEAD_TIME.get()).plus(fieldPos);
Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
// Calculate the angle between the current position and the lead position
Rotation2d ang = fieldPosLead.minus(getPose2d().getTranslation()).getAngle();
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
-3
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@@ -39,9 +39,6 @@ public final class SwerveDriveConstants {
public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED;
public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED;
// TODO: Replace with a constant
public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
public static final double CORRECTION_MIN = 10;
public static final double CORRECTION_MAX = 50;