From 911c754bed0cf405b331d632b56f1afe96c85d9e Mon Sep 17 00:00:00 2001 From: moo Date: Sat, 11 Apr 2026 13:43:19 -0700 Subject: [PATCH] superstructur netnumbies --- .../java/frc/robot/commands/gpm/Superstructure.java | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java index 854db9e..9954633 100644 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@ -55,7 +55,7 @@ public class Superstructure extends Command { private TurretState goalState; - private double phaseDelay = 0.03; // Extrapolation delay due to latency + private LoggedNetworkNumber phaseDelay = new LoggedNetworkNumber("OPERATOR: Phase Delay", 0.03); //Extrapolation delay due to latency private Translation2d target = FieldConstants.HUB_BLUE.toTranslation2d(); @@ -200,9 +200,9 @@ public class Superstructure extends Command { // Add a phase delay extrapolation component for latency delay drivepose.exp( new Twist2d( - robotRelVel.vxMetersPerSecond * phaseDelay, - robotRelVel.vyMetersPerSecond * phaseDelay, - robotRelVel.omegaRadiansPerSecond * phaseDelay)); + robotRelVel.vxMetersPerSecond * phaseDelay.get(), + robotRelVel.vyMetersPerSecond * phaseDelay.get(), + robotRelVel.omegaRadiansPerSecond * phaseDelay.get())); } /** @@ -307,10 +307,8 @@ public class Superstructure extends Command { if (!Constants.DISABLE_SMART_DASHBOARD) { SmartDashboard.putString("Phase Manager State", phaseManager.getCurrentState().toString()); - phaseDelay = SmartDashboard.getNumber("OPERATOR: Phase Delay", phaseDelay); - SmartDashboard.putNumber("OPERATOR: Phase Delay", phaseDelay); } else { - phaseDelay = 0.03; + phaseDelay.set(0.03); } } -- 2.39.5