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Code Review
This pull request refactors the AutoDriveRotate command to utilize a centralized Subsystems container and the LaunchCalculator for determining target rotation. The update also incorporates a specific center of rotation for swerve requests based on turret translation. Feedback was provided regarding the execute method, highlighting critical issues such as potential null pointer exceptions for the turret subsystem, unit mismatches between degrees and radians in the PID controller, and the omission of a required 180-degree offset for correct robot alignment during launching.
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needs more testing before merging |
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Just need a code review before testing and merging |
and reverted code. Also had it so that y and right trigger must be pressed in order to run turretfallback. Made it so that only one version of launching can be used at a time.
…is rather than the robot's axis
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/gemini review |
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Code Review
This pull request significantly refactors the AutoDriveRotate command to utilize a more dynamic approach for calculating target rotation, integrating the LaunchCalculator and the Subsystems object. The autoRotate method signature has been updated, requiring corresponding changes in its calls within Controls.java (including a unit conversion for turret position from degrees to radians) and AutoLogic.java. Additionally, the LauncherSubsystem now includes a new isAtTargetFallback method and the TurretSubsystem has been updated to support variable turret tolerances. The review identifies two key areas for improvement: ensuring the turretPos parameter is correctly supplied in the AutoDriveRotate.autoRotate call within AutoLogic.java (with a specific suggestion for simulation purposes), and updating the Javadoc for AutoDriveRotate.java to reflect its new dynamic behavior, as the current documentation is contradictory.
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Done differently in dcmps branch not sure why you need sotm for this |
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drive base shoot on the move |
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launcher aim command already uses it |
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no reply so bye bye |
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