made acceptable window for ferry x.

Co-authored-by: k4limul <[email protected]>
StuyPulse · Jun 18, 2024 · 0fa4a86 · 0fa4a86
1 parent a42e5bb
commit 0fa4a86
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveToFerry.java b/src/main/java/com/stuypulse/robot/commands/swerve/SwerveDriveToFerry.java
@@ -10,6 +10,7 @@
 import com.stuypulse.robot.Robot;
 import com.stuypulse.robot.constants.Field;
 import com.stuypulse.robot.subsystems.odometry.Odometry;
+import com.stuypulse.stuylib.math.SLMath;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -32,7 +33,7 @@ public SwerveDriveToFerry() {
             // use robot's y, put in x and rotation
 
             return new Pose2d(
-                Field.CONST_FERRY_X,
+                SLMath.clamp(robot.getX(), Field.FERRY_SHOT_MIN_X, Field.FERRY_SHOT_MAX_X),
                 Robot.isBlue() ? Math.max(robot.getY(), Field.FERRY_CUTOFF) : Math.min(robot.getY(), Field.WIDTH - Field.FERRY_CUTOFF),
                 targetAngle
             );