admin6494/FRC6494_2026Regional-offseason
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打表前准备

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OnDYCLaptop
2026-02-23 14:25:19 +08:00
parent 27e177df3d
commit da6e3d4a5a
5 changed files with 389 additions and 17 deletions
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src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+8
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@@ -193,6 +193,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}else if (shooterAvailable && !intakerAvailable) {
double shooterDistance = current.getTranslation().getDistance(mt2_shooter.pose.getTranslation());
ll_shooter_NT.getEntry("Distance").setDouble(shooterDistance);
ll_shooter_NT.getEntry("X").setDouble(mt2_shooter.pose.getX());
ll_shooter_NT.getEntry("Y").setDouble(mt2_shooter.pose.getY());
positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(true);
positioningNetworkTable.getEntry("Usingll").setString("Shooter");
//positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(Double.NaN);
@@ -200,6 +202,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
}else if (!shooterAvailable && intakerAvailable) {
double intakerDistance = current.getTranslation().getDistance(mt2_intaker.pose.getTranslation());
ll_intaker_NT.getEntry("Distance").setDouble(intakerDistance);
ll_intaker_NT.getEntry("X").setDouble(mt2_intaker.pose.getX());
ll_intaker_NT.getEntry("Y").setDouble(mt2_intaker.pose.getY());
positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(true);
positioningNetworkTable.getEntry("Usingll").setString("Intaker");
//positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(Double.NaN);
@@ -212,6 +216,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
ll_shooter_NT.getEntry("Distance").setDouble(shooterDistance);
ll_intaker_NT.getEntry("Distance").setDouble(intakerDistance);
ll_shooter_NT.getEntry("X").setDouble(mt2_shooter.pose.getX());
ll_shooter_NT.getEntry("Y").setDouble(mt2_shooter.pose.getY());
ll_intaker_NT.getEntry("X").setDouble(mt2_intaker.pose.getX());
ll_intaker_NT.getEntry("Y").setDouble(mt2_intaker.pose.getY());
positioningNetworkTable.getEntry("MetaTag2DistanceDifference").setDouble(difference);
positioningNetworkTable.getEntry("MetaTag2XDifference").setDouble(Math.abs(mt2_shooter.pose.getX() - mt2_intaker.pose.getX()));
positioningNetworkTable.getEntry("MetaTag2YDifference").setDouble(Math.abs(mt2_shooter.pose.getY() - mt2_intaker.pose.getY()));