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Co-authored-by: BrodyKarr <145169276+BrodyKarr@users.noreply.github.com> Co-authored-by: jaymendo670-png <244560677+jaymendo670-png@users.noreply.github.com> Co-authored-by: Justinpham17386769 <244249272+Justinpham17386769@users.noreply.github.com> Co-authored-by: lameesnotlame <258483139+lameesnotlame@users.noreply.github.com> Co-authored-by: Tej shah <187054380+Tejshah88@users.noreply.github.com> Co-authored-by: Yutong Zhu <176576491+Wu-Fan-529@users.noreply.github.com>
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Pull request overview
Updates the RobotPoses subsystem’s 3D model pose math by introducing explicit turret/hood pivot points and chaining the hood pose off the turret pose to better reflect the robot’s mechanism kinematics.
Changes:
- Added non-zero
Transform3dpivot points for the turret and hood. - Updated hood pose computation to start from
model1Turretinstead ofPose3d.kZero.
Suppressed comments (1)
src/main/java/frc/robot/subsystems/RobotPoses.java:42
- These hood pivot offsets are hardcoded numeric literals in a subsystem. Per team conventions, fixed geometry dimensions should be stored as typed
Distanceconstants inconstants/and referenced from here.
Transform3d hoodPivotPoint = new Transform3d(
Units.Inches.of(-11.75),
Units.Inches.of(6.5),
Units.Inches.of(15.5),
Rotation3d.kZero);
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| Transform3d turretPivotPoint = new Transform3d( | ||
| Units.Inches.of(-6.5), | ||
| Units.Inches.of(6.5), | ||
| Units.Inches.of(13.5), | ||
| Rotation3d.kZero); |
Comment on lines
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| model2Hood = model1Turret | ||
| .rotateAround(Pose3d.kZero.plus(hoodPivotPoint).getTranslation(), hoodRotation3d); |
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Co-authored-by: BrodyKarr 145169276+BrodyKarr@users.noreply.github.com
Co-authored-by: jaymendo670-png 244560677+jaymendo670-png@users.noreply.github.com
Co-authored-by: Justinpham17386769 244249272+Justinpham17386769@users.noreply.github.com
Co-authored-by: lameesnotlame 258483139+lameesnotlame@users.noreply.github.com
Co-authored-by: Tej shah 187054380+Tejshah88@users.noreply.github.com
Co-authored-by: Yutong Zhu 176576491+Wu-Fan-529@users.noreply.github.com