Team4388/2026KPopRobotHunters
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Better Defense

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This commit is contained in:
mimigamin
2026-03-14 20:34:55 -06:00
parent aac68dad5e
commit 45bffde181
2 changed files with 10 additions and 10 deletions
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src/main/java/frc4388/robot/commands/Swerve/StayInPosition.java
+5 -5
View File
@@ -26,16 +26,16 @@ public class StayInPosition extends PID {
Pose2d currentPose = drive.getCurrentPose();
double translationX = targetPose.getX() - currentPose.getX();
double translationY = targetPose.getY() - currentPose.getY();
if (translationX > 0.8){
translationX = 0.8;
if (translationX > 0.2){
translationX = 0.2;
}
if (translationY > 0.8){
translationY = 0.8;
if (translationY > 0.2){
translationY = 0.2;
}
if (Math.abs(translationX) < 0.01 && Math.abs(translationY) < 0.01) {
driveTranslation = new Translation2d();
} else {
driveTranslation = new Translation2d(translationX, translationY);
driveTranslation = new Translation2d(translationX * 4.5, translationY * 4.5);
}
drive.driveFieldAngleSIP(driveTranslation, targetPose.getRotation());
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
View File
@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 161;
public static final String GIT_SHA = "f5ecfd0be19548215558eee7217cf6eb1b8c487b";
public static final String GIT_DATE = "2026-03-14 20:00:21 MDT";
public static final int GIT_REVISION = 162;
public static final String GIT_SHA = "aac68dad5eabfaa1e098ad8cf6e42cd3bddd1ef3";
public static final String GIT_DATE = "2026-03-14 20:20:55 MDT";
public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-14 20:18:36 MDT";
public static final long BUILD_UNIX_TIME = 1773541116232L;
public static final String BUILD_DATE = "2026-03-14 20:33:21 MDT";
public static final long BUILD_UNIX_TIME = 1773542001176L;
public static final int DIRTY = 1;
private BuildConstants(){}