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test prnts

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66945
2022-03-22 18:04:17 -06:00
parent 8bcfbed745
commit 4b2f2c899c
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src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
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@@ -92,9 +92,11 @@ public class TrackTarget extends CommandBase {
// points = getFakePoints();
//// points = filterPoints(points);
Point average = VisionOdometry.averagePoint(points);
System.out.println("Average Point: " + average.toString());
double output = (average.x - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
output *= 2.0;
System.out.println("Output: " + output);
m_turret.runTurretWithInput(output);
// double position = m_turret.m_boomBoomRotateEncoder.getPosition();