Skip to content

fix auto align #166

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: main
Choose a base branch
from
Open

fix auto align #166

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
58796ec
wow you really needed me to do that :skull:
k1rxz Sep 19, 2025
89909d1
Formatting fixes
github-actions[bot] Sep 22, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions src/main/java/frc/robot/Robot.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -217,6 +217,12 @@ private void configureDriverController() {
.onTrue(
new InstantCommand(
() -> swerveDrive.resetEstimatedPose(visionSubsystem.getLastSeenPose())));

driverController.leftTrigger()
.whileTrue(
new InstantCommand(() -> swerveDrive.resetEstimatedPose(visionSubsystem.getLastSeenPose())).andThen(
Copy link
Member

@Ishan1522 Ishan1522 Sep 22, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

what if the camera doesn't see an april tag? Does it still work? Has it been tested? Are we not manually resetting it? Also, you currently have two Auto align (left reef) bound to the same trigger. (Scroll up in the method. It's under the set default command)

new AutoAlignReef(swerveDrive, visionSubsystem, true, this::alignCallback)
));
}

/** Configures the operator controller buttons and axes to control the robot */
Expand Down
Loading