From 4f361a805deb8cb48e62bc0a6c3a7406d6aa5f72 Mon Sep 17 00:00:00 2001 From: mimigamin Date: Wed, 11 Mar 2026 22:49:27 -0600 Subject: [PATCH] more calculated calculation --- .../java/frc4388/robot/subsystems/swerve/SwerveDrive.java | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java index 54e77cd..a79bfa0 100644 --- a/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java @@ -388,12 +388,11 @@ public class SwerveDrive extends SubsystemBase implements Queryable { ); if (ballVelocity.in(RotationsPerSecond) > 1E-3 && chassisSpeeds.vyMetersPerSecond > 1E-3){ - double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(ballVelocity.in(RotationsPerSecond)); + double aimOffset = chassisSpeeds.vyMetersPerSecond*distanceToHub/(Math.abs(ballVelocity.in(RotationsPerSecond))); fieldPos = new Translation2d(fieldPos.getX(), fieldPos.getY() - 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); + + // double aimOffset = (chassisSpeeds.vyMetersPerSecond * distanceToHub) / (Math.abs(ballVelocity.in(RotationsPerSecond)) * Math.cos(Math.atan((-1.4478 - (2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583) - Math.sqrt(Math.pow(2.8956 + 4 * (0.03724333 * distanceToHub + 0.64797583), 2) - 8.3863)) / 2) / distanceToHub))); // Logger.recordOutput("Aim Offset", aimOffset); }