Adding finish modes for SwerveSimpleTrajectoryLogic#671
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Adding finish modes for SwerveSimpleTrajectoryLogic#671
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This is just a pattern I am recognizing
rokadias
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Apr 1, 2026
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Note: I can make this work for this year since there's a BaseDriveWithSimpleBezierCommand where I can keep consistent loose points through out the two sets of movements.
Though imagine if we moved that into SCL. Would it make sense for it to hold what the loose values are it be properties/values coming from the logic.
I'd like to propose that it be a responsibility of the logic. To stick with a better information hiding principal.
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| if (finished) { | ||
| log.info(String.format("SwerveLogic recommends Finished, goal is %f away.", goalVector.getMagnitude())); |
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⭐ ⭐ ⭐ You're no longer using goalVector to determine finishing point.
This log message would be deceptive for debugging, and the variable looks like it's no longer useful.
Likely you want lastResult.distanceToTargetPoint?
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Why are we doing this?
Added a way for users to customize position and rotation thresholds before finishing such that they don't have to rely on pid. Also allow for setting a custom loose velocity.
Whats changing?
Additionally just refactored older logic so it looks better and is more maintainable.
Questions/notes for reviewers
How this was tested