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make nathan's code better (he asked me to)

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aarav18
2022-04-08 12:42:03 -06:00
parent c7f5d66a47
commit 471bc56d54
1 changed files with 7 additions and 3 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+7 -3
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@@ -120,9 +120,13 @@ public class TrackTarget extends CommandBase {
double regressedDistance = getDistance(average.y); double regressedDistance = getDistance(average.y);
// ! offset trig solution // ! offset trig solution
double desiredOffset = 10; // * inches double trigDesiredOffset = 10; // * inches
double angleOffset = Math.toDegrees(Math.atan(desiredOffset / regressedDistance)); // * degrees double trigAngleOffset = Math.toDegrees(Math.atan(trigDesiredOffset / regressedDistance)); // * degrees
double pixelOffset = angleOffset * VisionConstants.PIXELS_PER_DEGREE; double trigPixelOffset = trigAngleOffset * VisionConstants.PIXELS_PER_DEGREE; // * pixels
// ! offset csv solution
double csvAngleOffset = m_boomBoom.getOffset(regressedDistance); // * degrees
double csvPixelOffset = csvAngleOffset * VisionConstants.PIXELS_PER_DEGREE; // * pixels
double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS; double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
output *= 2.1; output *= 2.1;