Team4388/2026KPopRobotHunters
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Better Defense

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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
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@@ -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());