Aim While Shooting - #296
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Co-authored-by: Yutong Zhu <yutong59202@gmail.com>
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Pull request overview
Adds “aim while shooting” behavior by centralizing shooter/hood/drivetrain aiming logic and gating drivetrain aiming during Shooting based on vision tag visibility.
Changes:
- Added tag-visibility helpers to
Vision(getTotalTagCount(),seesTags()) and a getter for the active Limelight identifier. - Introduced
SubCommands.aim(...)helper to compute/set flywheel speed, hood angle, and optionally drivetrain rotation. - Updated
PrepAnywhereto use the shared aiming helper, and updatedShootingto keep aiming (instead of immediately X-braking) when coming fromPREP_ANYWHEREand tags are visible.
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 6 comments.
| File | Description |
|---|---|
src/main/java/frc/robot/subsystems/Vision.java |
Exposes limelight-in-use and tag-visibility helpers used to gate aiming behavior. |
src/main/java/frc/robot/commands/states/Shooting.java |
Adds logic to continue aiming during Shooting when applicable; adjusts X-brake behavior. |
src/main/java/frc/robot/commands/states/PrepShoots/PrepAnywhere.java |
Replaces duplicated aiming calculations with a shared helper call. |
src/main/java/frc/robot/commands/SubCommands.java |
New shared “aim” helper used by multiple commands to keep aiming logic consistent. |
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TaylerUva
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TaylerUva
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We might need to slightly modify this to allow aiming I without moving drivetrain to account for us being pushed forward or back. I have some ideas to accomplish this but you should give it a try
TaylerUva
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✨ Code Good - Ready to Test
Co-authored-by: Yutong Zhu <yutong59202@gmail.com>
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Pull request overview
Copilot reviewed 4 out of 4 changed files in this pull request and generated 4 comments.
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Pull request overview
Copilot reviewed 12 out of 12 changed files in this pull request and generated 1 comment.
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Pull request overview
Copilot reviewed 12 out of 12 changed files in this pull request and generated 2 comments.
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Pull request overview
Copilot reviewed 13 out of 13 changed files in this pull request and generated 1 comment.
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