Skip to content

Change aimTarget to use Supplier<Pose2d> #40

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
thenetworkgrinch merged 4 commits into from
Mar 11, 2026
Merged

Change aimTarget to use Supplier<Pose2d> #40

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
71957e6
Change aimTarget to use Supplier<Pose2d>
Hello2Krish19 Mar 10, 2026
82adcd7
Fix aimTarget presence check in SwerveInputStream
Hello2Krish19 Mar 10, 2026
f65b016
Merge branch 'Yet-Another-Software-Suite:main' into main
Hello2Krish19 Mar 11, 2026
13a60af
Fix aimTarget presence check in SwerveInputStream
Hello2Krish19 Mar 11, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 15 additions & 3 deletions yagsl/java/swervelib/SwerveInputStream.java
View file
Open in desktop
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 @@ -570,7 +570,19 @@ public SwerveInputStream headingWhile(boolean headingState)
*/
public SwerveInputStream aim(Pose2d aimTarget)
{
this.aimTarget = aimTarget.equals(Pose2d.kZero) ? Optional.empty() : Optional.of(aimTarget);
aim(() -> aimTarget);
return this;
}

/**
* Aim the {@link SwerveDrive} at this pose while driving.
*
* @param aimTarget {@link Supplier<Pose2d>} to point at.
* @return this
*/
public SwerveInputStream aim(Supplier<Pose2d> aimTarget)
{
this.aimTarget = aimTarget.get().equals(Pose2d.kZero) ? Optional.empty() : Optional.of(aimTarget);
return this;
}

Expand Down Expand Up @@ -1120,7 +1132,7 @@ 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
Loading