Team4388/2026KPopRobotHunters
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mimigamin
2026-03-11 22:00:57 -06:00
parent 960b9f5dd4
commit 3f26c2eaf2
1 changed files with 6 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
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@@ -391,8 +391,14 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(ballVelocity.in(RotationsPerSecond)); double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(ballVelocity.in(RotationsPerSecond));
fieldPos = new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset); fieldPos = new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset);
Logger.recordOutput("Aim Offset", aimOffset); Logger.recordOutput("Aim Offset", aimOffset);
// double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(ballVelocity.in(RotationsPerSecond))*Math.sqrt(1+Math.pow(7.161/distanceToHub, 2));
// fieldPos = new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset);
// Logger.recordOutput("Aim Offset", aimOffset);
} }
Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos); Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
Rotation2d ang = getPose2d().getTranslation().minus(fieldPosLead).getAngle(); Rotation2d ang = getPose2d().getTranslation().minus(fieldPosLead).getAngle();