Dont crash into trench -> master#269
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June 4, 2026 18:40
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| public static Translation2d getTurretPositionWhenHoodCloses( | ||
| Translation2d currentTurretPosition, | ||
| Translation2d fieldRelativeTurretVelocities | ||
| ) { | ||
| return new Translation2d( | ||
| currentTurretPosition.getX() + fieldRelativeTurretVelocities.getX() * ShooterConstants.TIME_TO_CLOSE_HOOD_WITH_BUFFER_SEC, | ||
| currentTurretPosition.getY() + fieldRelativeTurretVelocities.getY() * ShooterConstants.TIME_TO_CLOSE_HOOD_WITH_BUFFER_SEC | ||
| ); | ||
| } | ||
|
|
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thats not correct, you forgot to take in to account the robot rotation
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no i didnt, fieldRelativeTurretVelocities already takes it into acount
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