Team4388/2026KPopRobotHunters
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fix auto

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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
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+9 -2
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@@ -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;
}