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back to +40 offset

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Ryan
2022-04-08 13:35:49 -06:00
parent f94fab2d94
commit 820a93cad2
1 changed files with 1 additions and 1 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+1 -1
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@@ -124,7 +124,7 @@ public class TrackTarget extends CommandBase {
double angleOffset = Math.toDegrees(Math.atan(desiredOffset / regressedDistance)); // * degrees double angleOffset = Math.toDegrees(Math.atan(desiredOffset / regressedDistance)); // * degrees
double pixelOffset = angleOffset * VisionConstants.PIXELS_PER_DEGREE; double pixelOffset = angleOffset * VisionConstants.PIXELS_PER_DEGREE;
double output = ((average.x + pixelOffset) - 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;
m_turret.runTurretWithInput(output); m_turret.runTurretWithInput(output);