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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/commands/alignment/AutoAlign.java
+3 -3
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@@ -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));
}