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changed try catch for track target

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This commit is contained in:
aarav18
2022-03-12 12:02:38 -07:00
parent f843761460
commit 42f13035ef
1 changed files with 11 additions and 11 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+11 -11
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@@ -61,21 +61,21 @@ public class TrackTarget extends CommandBase {
@Override
public void execute() {
//m_targetAngle = angleToCenter(x, y, m_drive.getRegGyro().getDegrees());
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);
try{
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);