Dont crash into trench#269
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tomer-hershman wants to merge 17 commits into
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added 14 commits
June 4, 2026 18:40
Dolev3
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Jun 21, 2026
Dolev3
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Jun 21, 2026
Dolev3
reviewed
Jun 21, 2026
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| new Translation2d( | ||
| currentTurretPosition.getX() + fieldRelativeTurretVelocities.getX() * ShooterConstants.TIME_TO_CLOSE_HOOD_WITH_BUFFER_SEC, | ||
| currentTurretPosition.getY() + fieldRelativeTurretVelocities.getY() * ShooterConstants.TIME_TO_CLOSE_HOOD_WITH_BUFFER_SEC | ||
| ) |
Dolev3
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Jun 21, 2026
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| boolean isTurretUnderTrench = (MathUtil | ||
| .isNear(allianceRelativeTurretPosition.getX(), allianceRelativeDepotTrenchMiddle.getX(), Field.TRENCH_BAR_X_AXIS_LENGTH_METERS * 2) | ||
| && isTurretPositionAlignedWithTrenchOnYAxis(allianceRelativeTurretPosition)); |
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