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feat: add AllianceTranslation class and restore Intake initialization #16

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feat: add AllianceTranslation class and restore Intake initialization #16

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27 changes: 22 additions & 5 deletions additional_utilities/AllianceUtils.java
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Original file line number Diff line number Diff line change
Expand Up @@ -87,11 +87,28 @@ public AlliancePose(Translation2d translation, Rotation2d rotation) {
this.pose = new Pose2d(translation, rotation);
}

public AlliancePose(double degrees) {
this.pose = new Pose2d(0, 0, Rotation2d.fromDegrees(degrees));
}

public Pose2d get() {
return toAlliancePose(pose);
}
}}
}

public static class AllianceTranslation {
private final Translation2d translation2d;

public AllianceTranslation(double x, double y) {
this.translation2d = new Translation2d(x, y);
}

public AllianceTranslation() {
this.translation2d = new Translation2d();
}

public AllianceTranslation(Translation2d translation) {
this.translation2d = translation;
}

public Translation2d get() {
return toAlliancePose(translation2d);
Comment on lines +96 to +111
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Copilot AI Apr 5, 2026

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In AllianceTranslation, the field name translation2d is redundant with the type and inconsistent with AlliancePose's pose field naming. Renaming it to something like translation would improve readability and reduce noise in later usage.

Suggested change
private final Translation2d translation2d;
public AllianceTranslation(double x, double y) {
this.translation2d = new Translation2d(x, y);
}
public AllianceTranslation() {
this.translation2d = new Translation2d();
}
public AllianceTranslation(Translation2d translation) {
this.translation2d = translation;
}
public Translation2d get() {
return toAlliancePose(translation2d);
private final Translation2d translation;
public AllianceTranslation(double x, double y) {
this.translation = new Translation2d(x, y);
}
public AllianceTranslation() {
this.translation = new Translation2d();
}
public AllianceTranslation(Translation2d translation) {
this.translation = translation;
}
public Translation2d get() {
return toAlliancePose(translation);

Copilot uses AI. Check for mistakes.
}
}
}