From 356fcb842cd57749b943875eac3c1e1583712533 Mon Sep 17 00:00:00 2001 From: Wesley28w Date: Thu, 19 Mar 2026 14:42:23 -0700 Subject: [PATCH] hood asssist --- src/main/java/frc/robot/commands/gpm/Superstructure.java | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java index 6a9106e..9d10b47 100644 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.Command; import frc.robot.constants.Constants; import frc.robot.constants.FieldConstants; import frc.robot.constants.ShotInterpolation; +import frc.robot.constants.FieldConstants.FieldZone; import frc.robot.subsystems.drivetrain.Drivetrain; import frc.robot.subsystems.hood.Hood; import frc.robot.subsystems.hood.HoodConstants; @@ -143,7 +144,6 @@ public class Superstructure extends Command { SmartDashboard.putNumber("Time of flight", timeOfFlight); SmartDashboard.putNumber("Turret X-Velocity", turretVelocityX); SmartDashboard.putNumber("Turret Y-Velocity", turretVelocityY); - Logger.recordOutput("Lookahead Pose", lookaheadPose); @@ -228,6 +228,12 @@ public class Superstructure extends Command { // } hood.setFieldRelativeTarget(Rotation2d.fromDegrees(ShotInterpolation.newHoodMap.get(distanceFromTarget)), hoodVelocity); + Translation2d trans2d = new Translation2d(drivepose.getX(), drivepose.getY()); + if (FieldConstants.getZone(trans2d) == FieldZone.TRENCH_BUMP) { + hood.forceHoodDown(true); + } else { + hood.forceHoodDown(false); + } shooter.setShooter(-ShotInterpolation.shooterVelocityMap.get(distanceFromTarget)); Logger.recordOutput("Distance From Target", distanceFromTarget); //shooter.setShooter(-ShotInterpolation.exitVelocityMap.get(goalState.exitVel())); -- 2.39.5