Auto rotate #6
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Auto rotate #6
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…n and being locked to that rotation
… rotates when you start driving since the pid is in the joystick drive control
…o the desired angle updates as the command is running
…the commands had the requirement of the drivetrain before, which was the problem
…, add a target point, and test
…lly update the desired angle from the method. might be because we only call face point once? but that doesn't really make sense
… the reefs and it gets the value from the driver station to know where to point. can still toggle it off. next step is to make it so there are many different possible target points and the code handles figuring out where to point based on the state of the robot
…isionbase to become part of the template
mccv
approved these changes
Dec 16, 2025
mccv
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mccv
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This looks great! Some minor comments, definitely take or leave.
| }, | ||
| drive)); | ||
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| Rotation2d currentDesiredAngle = getDesiredAngle(); | ||
| Logger.recordOutput( |
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| private Pose2d targetPose = new Pose2d(); | ||
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| private Rotation2d desiredAngle = null; |
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if you want, you can have everything be a supplier, and in the case where you have a fixed value, people just have to call it with setDesiredAngleSupplier(() -> 2.0) or whatever. That may simplify some code as you don't have to consider both cases.
| private Translation2d targetPoint = null; | ||
| private boolean slowDrive; | ||
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| private static final Translation2d RED_TARGET_POINT = new Translation2d(13, 4.026); |
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I don't love having specific points in Drive.java, but don't really have suggestions for a cleaner place to put them right now. Feels like Drive should get passed a point to face (like, drive.setTargetPoint(RED_TARGET_POINT) and drive.clearTargetPoint() or something), but not sure if that clutters up other things.
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