From 513a3952d84f101106378c0f64709f53fdb9f69f Mon Sep 17 00:00:00 2001
From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com>
Date: Sat, 5 Mar 2022 15:22:14 -0700
Subject: [PATCH] jkg

---
 src/main/deploy/ShooterData.csv               |   4 +-
 src/main/java/frc4388/robot/Constants.java    |   1 +
 .../frc4388/robot/commands/TrackTarget.java   | 121 ++++++++++++++++++
 3 files changed, 124 insertions(+), 2 deletions(-)
 create mode 100644 src/main/java/frc4388/robot/commands/TrackTarget.java

diff --git a/src/main/deploy/ShooterData.csv b/src/main/deploy/ShooterData.csv
index 99413bc..573b060 100644
--- a/src/main/deploy/ShooterData.csv
+++ b/src/main/deploy/ShooterData.csv
@@ -1,3 +1,3 @@
 Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds)
-0             ,16            ,12000
-999           ,28.8          ,12000
\ No newline at end of file
+0             ,16            ,0
+999           ,28.8          ,1200
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 7475b4f..380e374 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -203,6 +203,7 @@ public final class Constants {
     public static final double V_FOV = 49.7;
     public static final double LIME_VIXELS = 960;
     public static final double LIME_HIXELS = 720;
+    public static final double TURRET_kP = 0.1;
 
     public static final double RANGE = 10;
 
diff --git a/src/main/java/frc4388/robot/commands/TrackTarget.java b/src/main/java/frc4388/robot/commands/TrackTarget.java
new file mode 100644
index 0000000..ae70cb4
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/TrackTarget.java
@@ -0,0 +1,121 @@
+// 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.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
+import org.opencv.core.Point;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ShooterConstants;
+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_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());
+    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{
+      pos = m_visionOdometry.getVisionOdometry();
+      distance = Math.hypot(pos.getX(), pos.getY());
+    }
+    catch (Exception e){
+    }
+    vel = m_boomBoom.getVelocity(distance);
+    hood = m_boomBoom.getHood(distance);
+    m_boomBoom.runDrumShooterVelocityPID(vel);
+    m_hood.runAngleAdjustPID(hood);
+    //m_turret.runshooterRotatePID(m_targetAngle);
+  }
+
+ /* public static double angleToCenter(double x, double y, double gyro) {
+    double angle = ((Math.atan2(y, x) * (180./Math.PI) - gyro) + 180. + 360.) % 360.; // Finds the angle between the gyro of the robot and the target (positive x is gyro 0)
+    return angle;
+  }*/
+
+  /**
+   * Checks if in hardware deadzone (due to mechanical limitations).
+   * @param angle Angle to check.
+   * @return True if in hardware deadzone.
+   */
+  public static boolean isHardwareDeadzone(double angle) {
+    return ((ShooterConstants.HARD_DEADZONE_LEFT > angle) || (angle > ShooterConstants.HARD_DEADZONE_RIGHT));
+  }
+
+  /**
+   * Checks if in digital deadzone (due to climber).
+   * @param angle Angle to check.
+   * @return True if in digital deadzone.
+   */
+  public static boolean isDigitalDeadzone(double angle) {
+    return ((ShooterConstants.DIG_DEADZONE_LEFT < angle) && (angle < ShooterConstants.DIG_DEADZONE_RIGHT));
+  }
+
+  // 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;
+  }
+}