testing in sim

hammerhead226 · Aug 16, 2024 · 8467354 · 8467354
1 parent 18a691d
commit 8467354
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Showing 2 changed files with 14 additions and 12 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -3,14 +3,14 @@
 /** Automatically generated file containing build version information. */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "2024 Robot Code";
+  public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 328;
-  public static final String GIT_SHA = "2b21d6b98cde049db5aee43e214983d0f90a2076";
-  public static final String GIT_DATE = "2024-08-14 20:38:25 EDT";
-  public static final String GIT_BRANCH = "pre-marc";
-  public static final String BUILD_DATE = "2024-08-14 20:39:57 EDT";
-  public static final long BUILD_UNIX_TIME = 1723682397590L;
+  public static final int GIT_REVISION = 339;
+  public static final String GIT_SHA = "18a691d2f6d19e87115ebcd3031c38f6abed2138";
+  public static final String GIT_DATE = "2024-08-16 15:05:13 EDT";
+  public static final String GIT_BRANCH = "marc";
+  public static final String BUILD_DATE = "2024-08-16 15:06:33 EDT";
+  public static final long BUILD_UNIX_TIME = 1723835193555L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -59,7 +59,6 @@
 import frc.robot.util.LimelightHelpers.PoseEstimate;
 import frc.robot.util.LimelightHelpers.RawFiducial;
 import frc.robot.util.LocalADStarAK;
-
 import java.util.HashMap;
 import java.util.List;
 import java.util.Optional;
@@ -735,25 +734,28 @@ public Translation2d getTargetNoteLocation() {
     Translation2d fieldCoords = noteLocations.get(getNote());
     boolean useVisionNoteCoords =
         getCachedNoteLocation().getDistance(fieldCoords) < 1.25
-            && getCachedNoteLocation() != null && getCachedNoteTime() != -1 && noteImageIsNew();
+            && getCachedNoteLocation() != null
+            && getCachedNoteTime() != -1
+            && noteImageIsNew();
 
     Logger.recordOutput(
-      "cached note distance to field ", getCachedNoteLocation().getDistance(fieldCoords));
+        "cached note distance to field ", getCachedNoteLocation().getDistance(fieldCoords));
     Logger.recordOutput("use vision note coords", useVisionNoteCoords);
 
     if (useVisionNoteCoords) return visionCoords;
     return fieldCoords;
   }
 
-    public PathPlannerPath generateTrajectoryToNote(
+  public PathPlannerPath generateTrajectoryToNote(
       Translation2d target,
       double maxVelMetersPerSec,
       double maxAccelMetersPerSecSquared,
       double maxAngVelDegPerSec,
       double maxAngAccelDegPerSecSquared,
       double endVelMetersPerSec) {
     Rotation2d targetRotation =
-      AllianceFlipUtil.apply(new Rotation2d(target.getX() - getPose().getX(), target.getY() - getPose().getY()));
+        AllianceFlipUtil.apply(
+            new Rotation2d(target.getX() - getPose().getX(), target.getY() - getPose().getY()));
 
     Logger.recordOutput("Target Note Pose3d", new Pose3d(new Pose2d(target, new Rotation2d())));
     List<Translation2d> points =