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/RobotContainer.java
+3 -4
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@@ -137,10 +137,9 @@ public class RobotContainer {
); );
private Command RobotShootDriving = new SequentialCommandGroup( private Command RobotShootDriving = new SequentialCommandGroup(
new InstantCommand(() -> new RunCommand(() ->
m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION) m_robotSwerveDrive.enableRotationOverride(FieldPositions.HUB_POSITION, ShooterConstants.AIM_LEAD_TIME.get(), FieldPositions.HUB_POSITION)
), ).withTimeout(20)
new WaitCommand(99) // stays on for the duration of the auto segment
).finallyDo((interrupted) -> ).finallyDo((interrupted) ->
m_robotSwerveDrive.disableRotationOverride() m_robotSwerveDrive.disableRotationOverride()
); );
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = ""; public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 172; public static final int GIT_REVISION = 173;
public static final String GIT_SHA = "69677d5ae9e63125a30857f5f7afa0756dfa9416"; public static final String GIT_SHA = "95c8a167a56fa0c68e486c7a097dc4d31a3e290b";
public static final String GIT_DATE = "2026-03-20 15:40:07 MDT"; public static final String GIT_DATE = "2026-03-20 20:01:06 MDT";
public static final String GIT_BRANCH = "MiraOrg"; public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-20 19:59:37 MDT"; public static final String BUILD_DATE = "2026-03-20 20:29:10 MDT";
public static final long BUILD_UNIX_TIME = 1774058377112L; public static final long BUILD_UNIX_TIME = 1774060150289L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
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(); softStop();
} }
public void enableRotationOverride(Translation2d fieldTarget) { public void enableRotationOverride(Translation2d fieldTarget, double aimLeadTime, Translation2d fieldPos) {
m_rotationOverrideTarget = fieldTarget; 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; m_useRotationOverride = true;
} }