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Change aimTarget from Pose2d to Supplier<Pose2d> #35

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Hello2Krish19 wants to merge 1 commit into from
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Change aimTarget from Pose2d to Supplier<Pose2d> #35

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6 changes: 3 additions & 3 deletions yagsl/java/swervelib/SwerveInputStream.java
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ public class SwerveInputStream implements Supplier<ChassisSpeeds>
/**
* Target to aim at.
*/
private Optional<Pose2d> aimTarget = Optional.empty();
private Optional<Supplier<Pose2d>> aimTarget = Optional.empty();
/**
* Target {@link Supplier<Pose2d>} to drive towards when driveToPose is enabled.
*/
Expand Down Expand Up @@ -568,7 +568,7 @@ public SwerveInputStream headingWhile(boolean headingState)
* @param aimTarget {@link Pose2d} to point at.
* @return this
*/
public SwerveInputStream aim(Pose2d aimTarget)
public SwerveInputStream aim(Supplier<Pose2d> aimTarget)
{
this.aimTarget = aimTarget.equals(Pose2d.kZero) ? Optional.empty() : Optional.of(aimTarget);
return this;
Expand Down Expand Up @@ -1120,7 +1120,7 @@ public ChassisSpeeds get()
}
case AIM ->
{
var targetVector = getTargetVector(aimTarget.orElseThrow());
var targetVector = getTargetVector(aimTarget.orElseThrow().get());
var targetDistance = targetVector.getNorm();
// TODO: Shoot on the move, using
// targetVector = targetVector.div(targetDistance).times(sotmDistanceToRPSMap.get(targetDistance)*flyWheelCircumference)
Expand Down