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Merge branch 'testRoboReveal' of https://github.com/Team4388/2022NoWayHome into testRoboReveal

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aarav18
2022-03-18 23:56:05 -06:00
parent 113a26d831 152c79f1fa
commit 208fb3044e
1 changed files with 12 additions and 0 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/AimToCenter.java
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@@ -61,6 +61,18 @@ public class AimToCenter extends CommandBase {
return (angle - 360);
}
public static double aaravAngleToCenter(double x, double y, double gyro) {
double exp = Math.toDegrees(Math.atan(y/x)) - gyro;
if (x > 0) { return exp; }
if (x < 0) { return (180 + exp); }
if (x == 0 && y > 0) { return (90 - gyro); }
if (x == 0 && y < 0) { return (-90 - gyro); }
System.out.println("Invalid case.");
return 0;
}
/**
* Checks if in deadzone.
* @param angle Angle to check.