Turret Logic | Turret/Drive Interaction

One idea that Andrew and I have been thinking about is how the swerve system could be used in combination with the turret to line up shots more quickly. If, for example, the turret has 270-degree limits on either side (which is ambitious, but we can hope), but the target is at 300 degrees, it would be much quicker to rotate the swerve system by >30 degrees and line up instead of whipping the turret around 360 degrees. We have to think about how we could potentially implement this logic, any potential dangers or better solutions, etc.

Another idea: If the turret is supposed to be ready to shoot at any moment (always lined up with the target), is it better to whip the turret around when, say, at +240 degrees to give more freedom near that orientation? Instead of having 30 degrees of freedom clockwise, and 510 degrees of freedom counterclockwise, you'd have 390 degrees clockwise and 150 degrees counterclockwise (I think). How do we determine when to spin around?

未指定任何文件、测试或入口点。首先检查 turret 和 swerve-system 的实现，以了解它们的限制和协调方式，然后为目标对齐和 turret 的 wraparound 行为定义并验证一个安全策略。