Team4388/2026KPopRobotHunters
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more calculated calculation

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mimigamin
2026-03-11 22:49:27 -06:00
parent 3f26c2eaf2
commit 4f361a805d
1 changed files with 3 additions and 4 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+3 -4
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@@ -388,12 +388,11 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
); );
if (ballVelocity.in(RotationsPerSecond) > 1E-3 && chassisSpeeds.vyMetersPerSecond > 1E-3){ 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); 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)); // 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)));
// fieldPos = new Translation2d(fieldPos.getX(), fieldPos.getY() - aimOffset);
// Logger.recordOutput("Aim Offset", aimOffset); // Logger.recordOutput("Aim Offset", aimOffset);
} }