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Velocity error fix #13

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Velocity error fix #13

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459bf30
Fixed double Speeds.vx in Math.hypot from slowEnoughToRaiseElevator
rickyegl Jan 9, 2026
20b14d0
Fixed double Speeds.vx in Math.hypot from slowEnoughToRaiseElevator o…
rickyegl Jan 9, 2026
e5b5710
Fixed typo in Utils
rickyegl Jan 9, 2026
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4 changes: 2 additions & 2 deletions src/main/java/frc/lib/util/Util.java
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Original file line number Diff line number Diff line change
Expand Up @@ -363,9 +363,9 @@ public void clearStatesBeforeTime(Time time) {
}

public Pose2dTimeInterpolable(Trajectory trajwithTan, Rotation2d startHeading, Rotation2d endHeading) {
double totalTimeSecpnods = trajwithTan.getTotalTime();
double totalTimeSeconds = trajwithTan.getTotalTime();
for (State state : trajwithTan.getStates()) {
Rotation2d poseRotation = startHeading.interpolate(endHeading, state.time / totalTimeSecpnods);
Rotation2d poseRotation = startHeading.interpolate(endHeading, state.time / totalTimeSeconds);
poseList.add(new Pair<>(
new Pose2d(state.pose.getTranslation(), poseRotation),
Units.Seconds.of(state.time)));
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/trajectories/FollowSyncedPIDToPose.java
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Expand Up @@ -85,7 +85,7 @@ public boolean closeEnoughToRaiseElevator() {
public boolean slowEnoughToRaiseElevator() {
return Math.hypot(
Drive.mInstance.getState().Speeds.vx,
Drive.mInstance.getState().Speeds.vx)
Drive.mInstance.getState().Speeds.vy)
< velToRaiseElevator.in(Units.MetersPerSecond);
}

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/trajectories/FollowSyncedTrajectory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ public boolean closeEnoughToRaiseElevator() {
public boolean slowEnoughToRaiseElevator() {
return Math.hypot(
Drive.mInstance.getState().Speeds.vx,
Drive.mInstance.getState().Speeds.vx)
Drive.mInstance.getState().Speeds.vy)
< DriveConstants.kMaxSpeedTippy.times(1.1).in(Units.MetersPerSecond);
}

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