Se/swerve commands #11
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Co-authored-by: Tmanxyz <Tmanxyz@users.noreply.github.com> Co-authored-by: metereel <Material-Energy@users.noreply.github.com> Co-authored-by: alex <alex-wanger@users.noreply.github.com> Co-authored-by: rzheng287 <rzheng287@users.noreply.github.com>
Co-authored-by: Tmanxyz <Tmanxyz@users.noreply.github.com> Co-authored-by: metereel <Material-Energy@users.noreply.github.com> Co-authored-by: alex <alex-wanger@users.noreply.github.com> Co-authored-by: rzheng287 <rzheng287@users.noreply.github.com>
Co-authored-by: naveed1117 <naveed1117@users.noreply.github.com> Co-authored-by: jopy-man <jopy-man@users.noreply.github.com> Co-authored-by: Tmanxyz <Tmanxyz@users.noreply.github.com>
anivanchen
reviewed
Jan 27, 2024
| private Pose2d getSpeakerTargetPose(Rotation2d angleToSpeaker) { | ||
| //Everything under is from aiming at center of speaker | ||
| Vector2D robotPose = new Vector2D(Odometry.getInstance().getPose().getTranslation()); | ||
| Vector2D targetPose = new Vector2D(this.targetPose.getTranslation()); |
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Interpolate between target poses +- certain y distance from the center of the speaker to adjust the point which the robot will aim at for shooting.
anivanchen
reviewed
Jan 27, 2024
| private final HolonomicController controller; | ||
| private final FieldObject2d targetPose2d; | ||
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| public SwerveDriveToShoot(Pose2d targetPose) { |
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Remove unused targetPose param
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This command is supposed to align from any point on the field to a certain shooting distance away from the speaker and to point at the speaker target position. then shoot.
Merge branch 'main' of https://github.com/StuyPulse/BigWang into se/swerve-commands
BenG49
approved these changes
Jan 28, 2024
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SwerveDrivetoShoot doesnt work as intended
SwerveDriveXMode should be tested on real robot