turret: add pose-supplier, targeting helpers, and default command#14
Merged
smoser-frc merged 5 commits intomainfrom Feb 4, 2026
Merged
turret: add pose-supplier, targeting helpers, and default command#14smoser-frc merged 5 commits intomainfrom
smoser-frc merged 5 commits intomainfrom
Conversation
Add Turret(Supplier<Pose2d>) constructor and default ctor; store pose supplier for odometry-based targeting. Implement getRobotRelativeAngle() which uses TurretHelpers.getTarget/getFieldRelativeAngle/getRobotRelative to compute the desired robot-relative turret angle. Record the last chosen Translation2d target and expose getLastTarget() for dashboarding. Add setTurretSetpoint() stub and getLastSetpoint() for future motor control. Add TurretDefaultCommand which calls turret.getRobotRelativeAngle(), publishes the target and setpoint, and set it as the turret default command in RobotContainer. Wire Turret instantiation in RobotContainer (pass drivebase::getPose).
smoser-frc
requested changes
Feb 4, 2026
| return swerveDrive.getPose(); | ||
| } | ||
|
|
||
| /** |
Contributor
There was a problem hiding this comment.
drop this change, it is not related.
Removed unused getPositionTranslation2d method.
Removed outdated documentation for robot translation accessor.
Removed unnecessary blank lines in getPose method.
karmikhael
commented
Feb 4, 2026
Contributor
Author
karmikhael
left a comment
karmikhael
left a comment
There was a problem hiding this comment.
Removed changes in swerve subsystem
smoser-frc
approved these changes
Feb 4, 2026
smoser-frc
approved these changes
Feb 4, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Add Turret(Supplier) constructor and default ctor; store pose supplier for odometry-based targeting.
Implement getRobotRelativeAngle() which uses TurretHelpers.getTarget/getFieldRelativeAngle/getRobotRelative to compute the desired robot-relative turret angle. Record the last chosen Translation2d target and expose getLastTarget() for dashboarding.
Add setTurretSetpoint() stub and getLastSetpoint() for future motor control.
Add TurretDefaultCommand which calls turret.getRobotRelativeAngle(), publishes the target and setpoint, and set it as the turret default command in RobotContainer.
Wire Turret instantiation in RobotContainer (pass drivebase::getPose).