Fix Poses (o-ωｑ)).oO #189
Fix Poses (o-ωｑ)).oO #189
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Pull Request Overview
This PR adjusts field pose constants for reef branches and refactors algae pose definitions to use dedicated endpoints before computing midpoints.
- Updates REEF_A–REEF_L Pose2d constants to new positions/angles.
- Introduces ALGAE_A–ALGAE_L endpoints and derives ALGAE_AB–ALGAE_KL as midpoints between those endpoints.
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TaylerUva
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✨ Code Good - Ready to Test
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Pull Request Overview
Copilot reviewed 3 out of 3 changed files in this pull request and generated 4 comments.
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| isPoseAligned = subDrivetrain.isAtPosition(closestPose, poseGroup.distanceTolerance) && | ||
| subDrivetrain.isAtRotation(closestPose.getRotation(), poseGroup.rotationTolerance); | ||
| return isPoseAligned; | ||
| return isPoseAligned & DriverStation.isAutonomous(); |
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Use the short-circuit logical AND (&&) instead of bitwise AND (&) for booleans to avoid unnecessary evaluation and match Java conventions: return isPoseAligned && DriverStation.isAutonomous();
| return isPoseAligned & DriverStation.isAutonomous(); | |
| return isPoseAligned && DriverStation.isAutonomous(); |
| import frc.robot.Constants.PoseDriveGroup; | ||
| import frc.robot.Constants.constField; | ||
| import frc.robot.Field; | ||
| import frc.robot.Robot; |
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This import appears unused in this file. Please remove it to keep imports clean, unless you plan to use it in this class.
| import frc.robot.Robot; |
| public static final double SLOW_MODE_MULTIPLIER = 0.5; | ||
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| public static final boolean INVERT_ROTATION = true; | ||
| public static final boolean INVERT_ROTATION = !Robot.isSimulation(); |
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[nitpick] To reduce coupling between Constants and your Robot class, prefer WPILib's RobotBase utility: import edu.wpi.first.wpilibj.RobotBase; and use public static final boolean INVERT_ROTATION = !RobotBase.isSimulation();
Co-Authored-By: Yutong Zhu <3681247216@qq.com>
Co-Authored-By: Yutong Zhu <3681247216@qq.com>
@TaylerUva please test it...