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Update StayInPosition.java

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mimigamin
2026-03-14 20:39:45 -06:00
parent 45bffde181
commit f4a42f02ee
2 changed files with 6 additions and 3 deletions
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src/main/java/frc4388/robot/commands/Swerve/StayInPosition.java
+4 -1
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@@ -27,15 +27,18 @@ public class StayInPosition extends PID {
double translationX = targetPose.getX() - currentPose.getX(); double translationX = targetPose.getX() - currentPose.getX();
double translationY = targetPose.getY() - currentPose.getY(); double translationY = targetPose.getY() - currentPose.getY();
if (translationX > 0.2){ if (translationX > 0.2){
//If below is changed make this change too so it never goes over 1
translationX = 0.2; translationX = 0.2;
} }
if (translationY > 0.2){ if (translationY > 0.2){
//Same here
translationY = 0.2; translationY = 0.2;
} }
if (Math.abs(translationX) < 0.01 && Math.abs(translationY) < 0.01) { if (Math.abs(translationX) < 0.01 && Math.abs(translationY) < 0.01) {
driveTranslation = new Translation2d(); driveTranslation = new Translation2d();
} else { } else {
driveTranslation = new Translation2d(translationX * 4.5, translationY * 4.5); //TODO: Tweak for best corrector against another bot
driveTranslation = new Translation2d(translationX * 4.5, translationY * 4.5);
} }
drive.driveFieldAngleSIP(driveTranslation, targetPose.getRotation()); drive.driveFieldAngleSIP(driveTranslation, targetPose.getRotation());
src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java
+2 -2
View File
@@ -19,14 +19,14 @@ public interface ShooterIO {
// Angle shooterTargetPitch = Rotations.of(0); // Angle shooterTargetPitch = Rotations.of(0);
// Current pitchMotorCurrent = Amps.of(0); // Current pitchMotorCurrent = Amps.of(0);
AngularVelocity motor1TargetVelocity = RotationsPerSecond.of(0); AngularVelocity motor1TargetVelocity = RotationsPerSecond.of(40); // For modeling purposes
AngularVelocity motor2TargetVelocity = RotationsPerSecond.of(0); AngularVelocity motor2TargetVelocity = RotationsPerSecond.of(0);
double indexerTargetOutput = 0; double indexerTargetOutput = 0;
AngularVelocity motor1Velocity = RotationsPerSecond.of(0); AngularVelocity motor1Velocity = RotationsPerSecond.of(0);
AngularVelocity motor2Velocity = RotationsPerSecond.of(0); AngularVelocity motor2Velocity = RotationsPerSecond.of(0);
AngularVelocity indexerForwardVelocity = RotationsPerSecond.of(42.53); //guestimate AngularVelocity indexerForwardVelocity = RotationsPerSecond.of(0);
double indexerOutput = 0; double indexerOutput = 0;
Current motor1Current = Amps.of(0); Current motor1Current = Amps.of(0);