admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-03-09 09:51:26 +08:00
parent 8b2df6ce7c
commit 9a426a8f8a
5 changed files with 12 additions and 7 deletions
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src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+4 -4
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@@ -163,7 +163,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public void forceUsingLimelightmt2() {
LimelightHelpers.PoseEstimate mt2 =
LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter);
LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Shooter);
if (mt2 == null || mt2.tagCount == 0) {
return;
@@ -258,7 +258,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private LimelightHelpers.PoseEstimate getLimelightPoseEstimate(String limelightName) {
if (Constants.Limelight.UsingMetaTag2) {
return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(limelightName);
return LimelightHelpers.getBotPoseEstimate_wpiBlue(limelightName);
}
return LimelightHelpers.getBotPoseEstimate_wpiBlue(limelightName);
}
@@ -415,8 +415,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
Pose2d pose = getState().Pose;
m_field.setRobotPose(pose);
posePub.set(pose);
shooter_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter).pose);
intaker_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Intaker).pose);
shooter_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Shooter).pose);
intaker_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Intaker).pose);
driveNetworkTable.getEntry("YawFromState").setDouble(getState().Pose.getRotation().getDegrees());
driveNetworkTable.getEntry("DriveMode").setString(m_driveMode.name());
driveNetworkTable.getEntry("IsFieldCentric").setBoolean(m_driveMode == DriveMode.FIELD_CENTRIC);