Team4388/2026KPopRobotHunters
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Fix offset model

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This commit is contained in:
mimigamin
2026-03-15 11:17:55 -06:00
parent f4a42f02ee
commit d5f316b0c1
3 changed files with 31 additions and 28 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -13
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@@ -254,20 +254,21 @@ public class RobotContainer {
// IF the driver is holding the aim button, aim the robot towards the hub and shooter ready
new Trigger(() -> getDeadbandedDriverController().getRightTriggerAxis() >= 0.5)
.whileTrue(new RunCommand(() -> m_robotSwerveDrive.driveFacingPosition(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get()
), m_robotSwerveDrive)
// () -> {
// m_robotSwerveDrive.driveFacingVelocity(
// getDeadbandedDriverController().getLeft(),
.whileTrue(new RunCommand(
// () -> m_robotSwerveDrive.driveFacingPosition(
// getDeadbandedDriverController().getLeft(),
// FieldPositions.HUB_POSITION,
// ShooterConstants.AIM_LEAD_TIME.get(),
// m_robotShooter.getBallVelocity(),
// m_robotShooter.getDistanceToHub()
// );
// }, m_robotSwerveDrive)
// ShooterConstants.AIM_LEAD_TIME.get()
// ), m_robotSwerveDrive)
() -> {
m_robotSwerveDrive.driveFacingVelocity(
getDeadbandedDriverController().getLeft(),
FieldPositions.HUB_POSITION,
ShooterConstants.AIM_LEAD_TIME.get(),
m_robotShooter.getBallVelocity(),
m_robotShooter.getDistanceToHub()
);
}, m_robotSwerveDrive)
);
// D-PAD fine alignment