Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-08 16:28:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

fix auto

Browse Source
This commit is contained in:
mimigamin
2026-03-20 20:33:15 -06:00
parent 95c8a167a5
commit 8c24514fe0
3 changed files with 17 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+3 -4
View File
@@ -137,10 +137,9 @@ public class RobotContainer {
);
private Command RobotShootDriving = new SequentialCommandGroup(
new InstantCommand(() ->
m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION)
),
new WaitCommand(99) // stays on for the duration of the auto segment
new RunCommand(() ->
m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION, ShooterConstants.AIM_LEAD_TIME.get(), FieldPositions.HUB_POSITION)
).withTimeout(20)
).finallyDo((interrupted) ->
m_robotSwerveDrive.disableRotationOverride()
);
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 = 172;
public static final String GIT_SHA = "69677d5ae9e63125a30857f5f7afa0756dfa9416";
public static final String GIT_DATE = "2026-03-20 15:40:07 MDT";
public static final int GIT_REVISION = 173;
public static final String GIT_SHA = "95c8a167a56fa0c68e486c7a097dc4d31a3e290b";
public static final String GIT_DATE = "2026-03-20 20:01:06 MDT";
public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-20 19:59:37 MDT";
public static final long BUILD_UNIX_TIME = 1774058377112L;
public static final String BUILD_DATE = "2026-03-20 20:29:10 MDT";
public static final long BUILD_UNIX_TIME = 1774060150289L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+9 -2
View File
@@ -540,8 +540,15 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
softStop();
}
public void enableRotationOverride(Translation2d fieldTarget) {
m_rotationOverrideTarget = fieldTarget;
public void enableRotationOverride(Translation2d fieldTarget, double aimLeadTime, Translation2d fieldPos) {
Translation2d robotSpeed = new Translation2d(
chassisSpeeds.vxMetersPerSecond,
chassisSpeeds.vyMetersPerSecond
);
Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
System.out.println("field pos lead: " + fieldPosLead);
Logger.recordOutput("Auto Aim", fieldPosLead);
m_rotationOverrideTarget = fieldPosLead;
m_useRotationOverride = true;
}