Merge branch 'chris_repulser_field_nav_experiment' of https://github.…

…com/RobotCasserole1736/RobotCasserole2025SwerveBase into chris_repulser_field_nav_experiment
RobotCasserole1736 · Oct 2, 2024 · ff5a639 · ff5a639
2 parents 2144a8c + 9856962
commit ff5a639
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/drivetrain/controlStrategies/autoDrive.py b/drivetrain/controlStrategies/autoDrive.py
@@ -6,6 +6,7 @@
 from utils.singleton import Singleton
 from navigation.repulsorFieldPlanner import RepulsorFieldPlanner
 from drivetrain.drivetrainPhysical import MAX_DT_LINEAR_SPEED
+from utils.allianceTransformUtils import transform
 
 
 GOAL_PICKUP = Pose2d.fromFeet(40,5,Rotation2d.fromDegrees(0.0))
@@ -46,9 +47,9 @@ def update(self, cmdIn: DrivetrainCommand, curPose: Pose2d) -> DrivetrainCommand
 
         # Handle command changes
         if(self._toPickup):
-            self._rfp.setGoal(GOAL_PICKUP)
+            self._rfp.setGoal(transform(GOAL_PICKUP))
         elif(self._toSpeaker):
-            self._rfp.setGoal(GOAL_SPEAKER)
+            self._rfp.setGoal(transform(GOAL_SPEAKER))
         elif(not self._toSpeaker and not self._toPickup):
             self._rfp.setGoal(None)
 

diff --git a/simgui.json b/simgui.json
@@ -103,6 +103,7 @@
         "left": 150,
         "right": 2961,
         "top": 79,
+        "units": "meters",
         "width": 16.541748046875,
         "window": {
           "visible": true