From: moo Date: Thu, 23 Apr 2026 23:30:17 +0000 (-0700) Subject: sotm is better ig X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=063f7f99451e8b6953a2e6819a579690d2820e16;p=FRC2026.git sotm is better ig Co-Authored-By: WesleyWong-972 <171457173+Wesley28w@users.noreply.github.com> Co-Authored-By: Timofei <108955303+iefomit@users.noreply.github.com> --- diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java index 5beae91..884958c 100644 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@ -195,11 +195,11 @@ public class Superstructure extends Command { ChassisSpeeds robotRelVel = drivetrain.getChassisSpeeds(); // Add a phase delay extrapolation component for latency delay - drivepose = drivepose.exp( - new Twist2d( - robotRelVel.vxMetersPerSecond * phaseDelay.get(), - robotRelVel.vyMetersPerSecond * phaseDelay.get(), - robotRelVel.omegaRadiansPerSecond * phaseDelay.get())); + // drivepose = drivepose.exp( + // new Twist2d( + // robotRelVel.vxMetersPerSecond * phaseDelay.get(), + // robotRelVel.vyMetersPerSecond * phaseDelay.get(), + // robotRelVel.omegaRadiansPerSecond * phaseDelay.get())); } /**