From e55c95f99fc1f088ed309fac2bd293cc07f92e5b Mon Sep 17 00:00:00 2001 From: Tayler Uva <8679670+TaylerUva@users.noreply.github.com> Date: Sat, 8 Aug 2026 11:05:46 -0700 Subject: [PATCH] Fixed model 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> --- src/main/java/frc/robot/subsystems/RobotPoses.java | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/RobotPoses.java b/src/main/java/frc/robot/subsystems/RobotPoses.java index 7582855..c9dae57 100644 --- a/src/main/java/frc/robot/subsystems/RobotPoses.java +++ b/src/main/java/frc/robot/subsystems/RobotPoses.java @@ -30,8 +30,16 @@ public class RobotPoses extends SubsystemBase { Rotation3d turretRotation3d = Rotation3d.kZero; Rotation3d hoodRotation3d = Rotation3d.kZero; - Transform3d turretPivotPoint = Transform3d.kZero; - Transform3d hoodPivotPoint = Transform3d.kZero; + Transform3d turretPivotPoint = new Transform3d( + Units.Inches.of(-6.5), + Units.Inches.of(6.5), + Units.Inches.of(13.5), + Rotation3d.kZero); + Transform3d hoodPivotPoint = new Transform3d( + Units.Inches.of(-11.75), + Units.Inches.of(6.5), + Units.Inches.of(15.5), + Rotation3d.kZero); public RobotPoses() { SmartDashboard.putData("Field", field2d); @@ -63,7 +71,7 @@ public void periodic() { model0Intake = Pose3d.kZero.transformBy(intakeTransform3d); model1Turret = Pose3d.kZero.rotateAround( Pose3d.kZero.plus(turretPivotPoint).getTranslation(), turretRotation3d); - model2Hood = Pose3d.kZero + model2Hood = model1Turret .rotateAround(Pose3d.kZero.plus(hoodPivotPoint).getTranslation(), hoodRotation3d); } }