Team4388/2026KPopRobotHunters
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chaning auto align

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This commit is contained in:
Shikhar
2026-02-25 17:17:52 -07:00
parent 3ac4ac230f
commit b3b32b00fe
2 changed files with 5 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -1
View File
@@ -12,6 +12,7 @@ import java.io.File;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
@@ -121,7 +122,7 @@ public class RobotContainer {
private Command RobotShoot = new SequentialCommandGroup(
// TEST NEW AUTO ALIGN
//new AutoAlign(m_robotSwerveDrive, m_vision),
new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0))),
new InstantCommand(()-> m_robotShooter.setShooterShoot(), m_robotShooter),
new InstantCommand(()-> m_robotShooter.setShooterReady(), m_robotShooter),
new WaitCommand(3),
src/main/java/frc4388/robot/commands/alignment/AutoAlign.java
+3 -3
View File
@@ -9,7 +9,6 @@ import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.compute.FieldPositions;
import frc4388.utility.compute.TimesNegativeOne;
import frc4388.utility.structs.Gains;
public class AutoAlign extends Command {
@@ -20,16 +19,17 @@ public class AutoAlign extends Command {
SwerveDrive swerveDrive;
Vision vision;
public AutoAlign(SwerveDrive swerveDrive, Vision vision) {
public AutoAlign(SwerveDrive swerveDrive, Vision vision, Pose2d targetpos) {
this.swerveDrive = swerveDrive;
this.vision = vision;
this.targetpos = targetpos;
addRequirements(swerveDrive);
}
@Override
public void initialize() {
rotPID.initialize();
this.targetpos = new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0));
//this.targetpos = new Pose2d(FieldPositions.HUB_POSITION, new Rotation2d(0));
}