Team4388/2026KPopRobotHunters
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mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
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mimigamin
2026-03-14 20:20:55 -06:00
parent f5ecfd0be1
commit aac68dad5e
2 changed files with 6 additions and 13 deletions
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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_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 = 160; public static final int GIT_REVISION = 161;
public static final String GIT_SHA = "8c8ac261397954f1b5a118cb96d4e5f60d70da81"; public static final String GIT_SHA = "f5ecfd0be19548215558eee7217cf6eb1b8c487b";
public static final String GIT_DATE = "2026-03-14 18:57:04 MDT"; public static final String GIT_DATE = "2026-03-14 20:00:21 MDT";
public static final String GIT_BRANCH = "MiraOrg"; public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-14 19:59:14 MDT"; public static final String BUILD_DATE = "2026-03-14 20:18:36 MDT";
public static final long BUILD_UNIX_TIME = 1773539954157L; public static final long BUILD_UNIX_TIME = 1773541116232L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/swerve/SimpleSwerveSim.java
+1 -8
View File
@@ -27,25 +27,21 @@ public class SimpleSwerveSim implements SwerveIO {
public synchronized void setControl(SwerveRequest ctrl) { public synchronized void setControl(SwerveRequest ctrl) {
if (ctrl == null) return; if (ctrl == null) return;
// Handle FieldCentricFacingAngle — compute omega from target direction
if (ctrl instanceof SwerveRequest.FieldCentricFacingAngle facingAngle) { if (ctrl instanceof SwerveRequest.FieldCentricFacingAngle facingAngle) {
vx = facingAngle.VelocityX; vx = facingAngle.VelocityX;
vy = facingAngle.VelocityY; vy = facingAngle.VelocityY;
// Simple P controller to rotate toward target
double currentAngle = pose.getRotation().getRadians(); double currentAngle = pose.getRotation().getRadians();
double targetAngle = facingAngle.TargetDirection.getRadians(); double targetAngle = facingAngle.TargetDirection.getRadians();
double error = targetAngle - currentAngle; double error = targetAngle - currentAngle;
// Wrap error to [-pi, pi]
error = Math.atan2(Math.sin(error), Math.cos(error)); 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; omega = error * kP;
return; return;
} }
// Handle FieldCentric (normal driving with explicit rotational rate)
if (ctrl instanceof SwerveRequest.FieldCentric fc) { if (ctrl instanceof SwerveRequest.FieldCentric fc) {
vx = fc.VelocityX; vx = fc.VelocityX;
vy = fc.VelocityY; vy = fc.VelocityY;
@@ -54,7 +50,6 @@ public class SimpleSwerveSim implements SwerveIO {
} }
if (ctrl instanceof SwerveRequest.RobotCentric rc) { if (ctrl instanceof SwerveRequest.RobotCentric rc) {
// rotate velocity into field frame
double cos = pose.getRotation().getCos(); double cos = pose.getRotation().getCos();
double sin = pose.getRotation().getSin(); double sin = pose.getRotation().getSin();
double vxRobot = rc.VelocityX; double vxRobot = rc.VelocityX;
@@ -65,13 +60,11 @@ public class SimpleSwerveSim implements SwerveIO {
return; return;
} }
// Handle brake
if (ctrl instanceof SwerveRequest.SwerveDriveBrake) { if (ctrl instanceof SwerveRequest.SwerveDriveBrake) {
vx = 0; vy = 0; omega = 0; vx = 0; vy = 0; omega = 0;
return; return;
} }
// Fallback: your original reflection approach
ChassisSpeeds cs = tryGetSpeedsField(ctrl); ChassisSpeeds cs = tryGetSpeedsField(ctrl);
if (cs != null) { if (cs != null) {
vx = cs.vxMetersPerSecond; vx = cs.vxMetersPerSecond;