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Bump Autoalign #37

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613e220
syncing current changes.
Dillpickle9756 Jan 25, 2026
1428717
Merge branch 'main' into feature/bump-autoalign
Dillpickle9756 Jan 25, 2026
f96d55d
Create a bump align method
Dillpickle9756 Jan 25, 2026
0c88d20
Creating bumpAlign command
Dillpickle9756 Feb 1, 2026
3ee6f7a
Creating is close to bump method
Dillpickle9756 Feb 2, 2026
43f8aa3
Added trigger in robot.java
Dillpickle9756 Feb 2, 2026
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11 changes: 11 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -435,6 +435,17 @@ private void addControllerBindings() {
() ->
modifyJoystick(driver.getLeftX())
* SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed()));

while(swerve.isCloseToBump()){
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@spellingcat spellingcat Feb 2, 2026

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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...)

swerve.bumpAlign(
() ->
modifyJoystick(driver.getLeftY())
* SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed(),
() ->
modifyJoystick(driver.getLeftX())
* SwerveSubsystem.SWERVE_CONSTANTS.getMaxLinearSpeed());
}

// TODO add binding for climb

// ---zeroing stuff---
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25 changes: 25 additions & 0 deletions src/main/java/frc/robot/subsystems/swerve/SwerveSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -605,6 +605,31 @@ public Command faceHub(DoubleSupplier xVel, DoubleSupplier yVel) {
yVel);
}

public Command bumpAlign(DoubleSupplier xVel, DoubleSupplier yVel) {
return driveWithHeadingSnap(
() -> {
if(getPose().getRotation().getDegrees() <= 90 || getPose().getRotation().getDegrees() >= 270){
return Rotation2d.kZero;
} else {
return Rotation2d.k180deg;
}
},
xVel,
yVel);
}

public boolean isCloseToBump(){
if(
((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)))
Comment on lines +623 to +625
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@spellingcat spellingcat Feb 2, 2026

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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

{
return true;
} else {
return false;
}
}

public boolean isInAutoAimTolerance(Pose2d target) {
return isInTolerance(
target, AutoAlign.TRANSLATION_TOLERANCE_METERS, AutoAlign.ROTATION_TOLERANCE_RADIANS);
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