Team4388/2026KPopRobotHunters
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Rotate and Autos

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This commit is contained in:
Shikhar
2026-01-19 13:42:16 -07:00
parent c68329c9ca
commit f600317435
14 changed files with 258 additions and 183 deletions
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src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java
+2 -1
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@@ -289,7 +289,8 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
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();
Rotation2d ang = fieldPosLead.minus(getPose2d().getTranslation()).getAngle();
driveFieldAngle(leftStick, ang);
}
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+1 -1
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@@ -164,7 +164,7 @@ public final class SwerveDriveConstants {
// TODO: Replace this with a static constant
public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 2.5);
public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 15);
public static final ConfigurableDouble AIM_kI = new ConfigurableDouble("Aim kI", 0);
public static final ConfigurableDouble AIM_kD = new ConfigurableDouble("Aim kD", 0.1);
// public static final Gains AIM_GAINS = new Gains(2.5, 0, 0.1);