position goal change

awtybots · Mar 1, 2024 · 4e11120 · 4e11120
1 parent 07224a9
commit 4e11120
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Showing 2 changed files with 6 additions and 21 deletions.
diff --git a/src/main/deploy/pathplanner/autos/BlueLClose3.auto b/src/main/deploy/pathplanner/autos/BlueLClose3.auto
@@ -20,13 +20,7 @@
         {
           "type": "named",
           "data": {
-            "name": "FloorPickup"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "RunIntake"
+            "name": "ShootNoteClose"
           }
         },
         {
@@ -41,12 +35,6 @@
             "name": "FloorPickup"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "RunIntake"
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -56,13 +44,7 @@
         {
           "type": "named",
           "data": {
-            "name": "FloorPickup"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "RunIntake"
+            "name": "ShootNoteClose"
           }
         }
       ]

diff --git a/src/main/java/frc/robot/commands/ControlCommands/DriveCommands.java b/src/main/java/frc/robot/commands/ControlCommands/DriveCommands.java
@@ -116,7 +116,10 @@ public static Command runOverClosestNote(Drive sDrive, Intake sIntake, Flywheel
 
             if (newDistance < distance || distance == 0) {
               distance = currentPostition.getDistance(checkingNotePostition);
-              closestNotePosition = new Translation2d(x, y);
+              closestNotePosition =
+                  new Translation2d(
+                      currentPostition.getX() + (x - currentPostition.getX()) / 2,
+                      currentPostition.getY() + (y - currentPostition.getY()) / 2);
             }
           }