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Fixed model #80

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Merged
TaylerUva merged 1 commit into from
Aug 8, 2026
Merged

Fixed model #80

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14 changes: 11 additions & 3 deletions src/main/java/frc/robot/subsystems/RobotPoses.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Comment on lines +33 to +37
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);
Expand Down Expand Up @@ -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);
Comment on lines +74 to 75
}
}
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