Event/2024cmptx #49
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Event/2024cmptx #49
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new shooter stuff and logging cleanup
rutmanz
commented
Apr 28, 2024
src/main/java/org/team1540/robot2024/commands/shooter/AutoShootPrepare.java
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| Math.atan2(Constants.Targeting.STAGE_MAX_HEIGHT + 1.5 - Constants.Shooter.Pivot.PIVOT_HEIGHT, | ||
| positionSupplier.get().getTranslation().getDistance( | ||
| AprilTagsCrescendo.getInstance().getTag(AprilTagsCrescendo.Tags.CLIMB_FAR, DriverStation.getAlliance().orElse(null) == DriverStation.Alliance.Red ? DriverStation.Alliance.Blue : DriverStation.Alliance.Red | ||
| ).toPose2d().getTranslation().plus(new Translation2d(FlipUtil.flipIfRed(2.277226), 0)) |
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what's the 2.277226 for?
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Great question, it's some weird thing for moving a pose somewhere (I told simon to put the pose in constants but he wouldn't do it so we get this instead)
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Is this used for anything?
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I don't think so, I think Simon wanted to have it for auto shooter spinup or something but we never ended up using it
src/main/java/org/team1540/robot2024/subsystems/shooter/ShooterPivotIOTalonFX.java
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src/main/java/org/team1540/robot2024/subsystems/vision/AprilTagVisionIOMegaTag2.java
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| public static double flipIfRed(double num){ |
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Why do I want my numbers to be negative on red?
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For moving poses around i think? This was a simon thing since he didn't like putting poses in constants
src/main/java/org/team1540/robot2024/util/vision/LimelightHelpers.java
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mimizh2418
reviewed
Apr 28, 2024
Co-authored-by: Alvin Zhang <114535782+mimizh2418@users.noreply.github.com>
This reverts commit bbd8809.
rutmanz
commented
May 10, 2024
mimizh2418
approved these changes
May 14, 2024
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