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DevilBotz2876 · Apr 5, 2024 · 170d34f · 170d34f
1 parent 36ca114
commit 170d34f
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Showing 5 changed files with 15 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/config/RobotConfig.java b/src/main/java/frc/robot/config/RobotConfig.java
@@ -57,7 +57,7 @@ public static class DriveConstants {
 
     public static double blueSpeakerX = 0.14;
     public static double speakerY = 5.53;
-    public static double redSpeakerX = 16.54-0.14;
+    public static double redSpeakerX = 16.54 - 0.14;
   }
 
   public static class ArmConstants {

diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -1,13 +1,12 @@
 package frc.robot.subsystems.drive;
 
-import java.util.Optional;
-
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.wpilibj2.command.Command;
+import java.util.Optional;
 
 public interface Drive {
   /**

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveIO.java b/src/main/java/frc/robot/subsystems/drive/DriveIO.java
@@ -3,7 +3,6 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import frc.robot.config.RobotConfig.DriveConstants;
 import frc.robot.util.DevilBotState;
-
 import org.littletonrobotics.junction.AutoLog;
 import swervelib.SwerveDrive;
 
@@ -23,11 +22,18 @@ public void updateInputs(DriveIOInputs inputs, SwerveDrive swerveDrive) {
     inputs.poseX = inputs.pose.getTranslation().getX();
     inputs.poseY = inputs.pose.getTranslation().getY();
     inputs.poseRotInDegrees = inputs.pose.getRotation().getDegrees();
-    if(!DevilBotState.isRedAlliance()){
-      inputs.distanceFromSpeaker = Math.sqrt(Math.pow(inputs.poseX - DriveConstants.blueSpeakerX,2)+Math.pow(inputs.poseY - DriveConstants.speakerY,2));
-    } else{
-      inputs.distanceFromSpeaker = Math.sqrt(Math.pow(inputs.poseX - DriveConstants.redSpeakerX,2)+Math.pow(inputs.poseY - DriveConstants.speakerY,2));
-    }                                                           ;
+    if (!DevilBotState.isRedAlliance()) {
+      inputs.distanceFromSpeaker =
+          Math.sqrt(
+              Math.pow(inputs.poseX - DriveConstants.blueSpeakerX, 2)
+                  + Math.pow(inputs.poseY - DriveConstants.speakerY, 2));
+    } else {
+      inputs.distanceFromSpeaker =
+          Math.sqrt(
+              Math.pow(inputs.poseX - DriveConstants.redSpeakerX, 2)
+                  + Math.pow(inputs.poseY - DriveConstants.speakerY, 2));
+    }
+    ;
   }
 
   // Other methods for controlling the drive subsystem...

diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java b/src/main/java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java
@@ -16,7 +16,6 @@
 import frc.robot.util.DevilBotState;
 import java.io.File;
 import java.util.Optional;
-
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 import swervelib.SwerveDrive;

diff --git a/src/main/java/frc/robot/util/DevilBotState.java b/src/main/java/frc/robot/util/DevilBotState.java
@@ -185,7 +185,7 @@ public static Optional<Double> getArmAngleToTarget() {
 
             return armAngle;
           } else {
-            distanceToTarget =RobotConfig.drive.getDistanceFromSpeaker();
+            distanceToTarget = RobotConfig.drive.getDistanceFromSpeaker();
             if (distanceToTarget.isPresent()) {
               Optional<Double> armAngle =
                   RobotConfig.instance.getArmAngleFromDistance(distanceToTarget.get());