Team4388/2026KPopRobotHunters
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Add aim lead

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This commit is contained in:
Michael Mikovsky
2026-01-18 12:53:07 -07:00
parent a27cde3f84
commit c68329c9ca
6 changed files with 55 additions and 27 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+3 -5
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@@ -39,6 +39,7 @@ import frc4388.robot.commands.MoveUntilSuply;
// import frc4388.robot.commands.wait.waitFeedCoral;
import frc4388.robot.commands.wait.waitSupplier;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.FieldConstants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
@@ -111,12 +112,9 @@ public class RobotContainer {
// IF the driver is holding the aim button, aim the robot towards the hub
if(m_driverXbox.getRightTriggerAxis() > 0.5) {
// Aim
Translation2d shootTarget = new Translation2d();
// new Rotation2()
Rotation2d ang = m_robotSwerveDrive.getPose2d().getTranslation().minus(shootTarget).getAngle();
m_robotSwerveDrive.driveFieldAngle(
m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
ang);
FieldConstants.BLUE_HUB_POS);
} else {
// Drive normally
m_robotSwerveDrive.driveWithInput(