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/subsystems/swerve/SwerveDrive.java
+25 -8
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@@ -251,14 +251,11 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
io.setControl(ctrl);
}
// Drive with a specific velocity and heading
public void driveFieldAngle(Translation2d leftStick, Rotation2d heading) {
if (leftStick.getNorm() < 0.05) // if no imput and the swerve drive is still going:
stopModules(); // stop the swerve
// if (leftStick.getNorm() < 0.05) // if no imput
// return; // don't bother doing swerve drive math and return early.
leftStick = leftStick.rotateBy(TimesNegativeOne.ForwardOffset);
leftStick = TimesNegativeOne.invert(leftStick, TimesNegativeOne.XAxis, TimesNegativeOne.YAxis);
@@ -268,13 +265,33 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
.withVelocityY(leftStick.getY() * speedAdjust)
.withTargetDirection(heading);
ctrl.HeadingController.setPID(
SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kP,
SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kI,
SwerveDriveConstants.PIDConstants.DRIFT_CORRECTION_GAINS.kD
SwerveDriveConstants.PIDConstants.AIM_kP.get(),
SwerveDriveConstants.PIDConstants.AIM_kI.get(),
SwerveDriveConstants.PIDConstants.AIM_kD.get()
// SwerveDriveConstants.PIDConstants.AIM_GAINS.kP,
// SwerveDriveConstants.PIDConstants.AIM_GAINS.kI,
// SwerveDriveConstants.PIDConstants.AIM_GAINS.kD
);
io.setControl(ctrl);
// SmartDashboard.putBoolean("drift correction", true);
}
// Drive with the robot facing towards a specific position
public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos) {
// Get the current speed of the robot
Translation2d robotSpeed = new Translation2d(
chassisSpeeds.vxMetersPerSecond,
chassisSpeeds.vyMetersPerSecond
);
// Calculate a point to aim ahead of the actual position.
Translation2d fieldPosLead = robotSpeed.times(SwerveDriveConstants.AIM_LEAD_TIME.get()).plus(fieldPos);
// Calculate the angle between the current position and the lead position
Rotation2d ang = getPose2d().getTranslation().minus(fieldPosLead).getAngle();
driveFieldAngle(leftStick, ang);
}
public void driveRelativeLockedAngle(Translation2d leftStick, Rotation2d heading) {