2022NoWayHome/src/main/java/frc4388/robot/commands/TrackTarget.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc4388.robot.commands;

import java.util.ArrayList;

import org.opencv.core.Point;

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj2.command.CommandBase;

import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.VisionOdometry;

public class TrackTarget extends CommandBase {
  /** Creates a new TrackTarget. */
  Turret m_turret;
  SwerveDrive m_drive;
  VisionOdometry m_visionOdometry;
  BoomBoom m_boomBoom;
  Hood m_hood;

  // use odometry to find x and y later
  double x;
  double y;
  double distance;
  double vel;
  double hood;
  double average;
  double output;
  Pose2d pos = new Pose2d();
  ArrayList<Point> points = new ArrayList<>();

  // public static Gains m_aimGains;

  public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, SwerveDrive drive, VisionOdometry visionOdometry) {
    // Use addRequirements() here to declare subsystem dependencies.
    m_turret = turret;
    m_drive = drive;
    m_boomBoom = boomBoom;
    m_hood = hood;
    m_visionOdometry = visionOdometry;

    addRequirements(m_turret, m_boomBoom, m_hood, m_drive, m_visionOdometry);
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    x = 0;
    y = 0;
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    //m_targetAngle = angleToCenter(x, y, m_drive.getRegGyro().getDegrees());
    try {
      m_visionOdometry.setLEDs(true);
      points = m_visionOdometry.getTargetPoints();
      double pointTotal = 0;
      for(Point point : points) {
        pointTotal = pointTotal + point.x;
      }
      average = pointTotal/points.size();
      output = average/VisionConstants.LIME_HIXELS * VisionConstants.TURRET_kP;
      m_turret.runTurretWithInput(output);
      pos = m_visionOdometry.getVisionOdometry();
      distance = Math.hypot(pos.getX(), pos.getY());
    }
    catch (Exception e){
      System.err.println("Exception: " + e.toString() + ", Line 78 at TrackTarget.java");
    }
    vel = m_boomBoom.getVelocity(distance);
    hood = m_boomBoom.getHood(distance);
    // m_boomBoom.runDrumShooter(vel);
    // m_boomBoom.runDrumShooterVelocityPID(vel);
    // m_hood.runAngleAdjustPID(hood);
    //m_turret.runshooterRotatePID(m_targetAngle);
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return false;
  }
}