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src/main/java/org/team1540/robot2024/util/MechanismVisualiser.java
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package org.team1540.robot2024.util; | ||
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import edu.wpi.first.math.geometry.Pose3d; | ||
import edu.wpi.first.math.geometry.Rotation2d; | ||
import edu.wpi.first.math.geometry.Rotation3d; | ||
import org.littletonrobotics.junction.Logger; | ||
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public class MechanismVisualiser { | ||
private static Pose3d shooterPivot = new Pose3d(); | ||
private static Pose3d elevator = new Pose3d(); | ||
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public static void periodic() { | ||
Logger.recordOutput("Mechanisms", shooterPivot, elevator); | ||
} | ||
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public static void setElevatorPosition(double positionMeters) { | ||
elevator = new Pose3d(0.0, 0.0, positionMeters, new Rotation3d()); | ||
} | ||
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public static void setShooterPivotRotation(Rotation2d rotation) { | ||
shooterPivot = new Pose3d(0.0, 0.0, 0.0, new Rotation3d(0, rotation.getRadians(), 0)); | ||
} | ||
} |