From aac68dad5eabfaa1e098ad8cf6e42cd3bddd1ef3 Mon Sep 17 00:00:00 2001
From: mimigamin <mira.j.maroni@gmail.com>
Date: Sat, 14 Mar 2026 20:20:55 -0600
Subject: [PATCH] Updates

---
 .../java/frc4388/robot/constants/BuildConstants.java   | 10 +++++-----
 .../robot/subsystems/swerve/SimpleSwerveSim.java       |  9 +--------
 2 files changed, 6 insertions(+), 13 deletions(-)

diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 16f7820..c2a2676 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -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 = 160;
-  public static final String GIT_SHA = "8c8ac261397954f1b5a118cb96d4e5f60d70da81";
-  public static final String GIT_DATE = "2026-03-14 18:57:04 MDT";
+  public static final int GIT_REVISION = 161;
+  public static final String GIT_SHA = "f5ecfd0be19548215558eee7217cf6eb1b8c487b";
+  public static final String GIT_DATE = "2026-03-14 20:00:21 MDT";
   public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-14 19:59:14 MDT";
-  public static final long BUILD_UNIX_TIME = 1773539954157L;
+  public static final String BUILD_DATE = "2026-03-14 20:18:36 MDT";
+  public static final long BUILD_UNIX_TIME = 1773541116232L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java b/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
index 3a177bb..44937da 100644
--- a/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
+++ b/src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
@@ -27,25 +27,21 @@ public class SimpleSwerveSim implements SwerveIO {
     public synchronized void setControl(SwerveRequest ctrl) {
         if (ctrl == null) return;
 
-        // Handle FieldCentricFacingAngle — compute omega from target direction
         if (ctrl instanceof SwerveRequest.FieldCentricFacingAngle facingAngle) {
         vx = facingAngle.VelocityX;
         vy = facingAngle.VelocityY;
 
-        // Simple P controller to rotate toward target
         double currentAngle = pose.getRotation().getRadians();
         double targetAngle  = facingAngle.TargetDirection.getRadians();
         double error = targetAngle - currentAngle;
 
-            // Wrap error to [-pi, pi]
             error = Math.atan2(Math.sin(error), Math.cos(error));
 
-            double kP = 5.0; // tune this — matches PathPlanner's rotation PID
+            double kP = 5.0;
             omega = error * kP;
             return;
         }
 
-        // Handle FieldCentric (normal driving with explicit rotational rate)
         if (ctrl instanceof SwerveRequest.FieldCentric fc) {
             vx = fc.VelocityX;
             vy = fc.VelocityY;
@@ -54,7 +50,6 @@ public class SimpleSwerveSim implements SwerveIO {
         }
 
         if (ctrl instanceof SwerveRequest.RobotCentric rc) {
-        // rotate velocity into field frame
             double cos = pose.getRotation().getCos();
             double sin = pose.getRotation().getSin();
             double vxRobot = rc.VelocityX;
@@ -65,13 +60,11 @@ public class SimpleSwerveSim implements SwerveIO {
             return;
         }
 
-        // Handle brake
         if (ctrl instanceof SwerveRequest.SwerveDriveBrake) {
             vx = 0; vy = 0; omega = 0;
             return;
         }
 
-        // Fallback: your original reflection approach
         ChassisSpeeds cs = tryGetSpeedsField(ctrl);
         if (cs != null) {
             vx = cs.vxMetersPerSecond;