Bump Autoalign #37
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Bump Autoalign #37
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spellingcat
requested changes
Feb 2, 2026
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spellingcat
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looks great overall. lmk when you're available to come to the field and you can test it pretty soon
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+625
| ((Math.abs(getPose().getX() - 4.62) < 2) || (Math.abs(getPose().getX() - 11.91) < 2)) | ||
| && | ||
| ((getPose().getY() > 5.04 && getPose().getY() < 6.07) || (getPose().getY() > 2 && getPose().getY() < 3.01))) |
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i'd recommend throwing these numbers for the coordinates (4.62, 11.91 etc) into FieldUtils.java as constants (so similar to the BLUE_HUB_POS that's already there) and then referencing them by name here to minimize the amount of "magic numbers" floating around in our code
| modifyJoystick(driver.getLeftX()) | ||
| * SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed())); | ||
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| while(swerve.isCloseToBump()){ |
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this is the right logic, although the while loop doesn't explicitly create a trigger object around this boolean value
Suggested change
| while(swerve.isCloseToBump()){ | |
| new Trigger(swerve::isCloseToBump).whileTrue(swerve.bumpAlign etc...) |
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