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aarav18
2022-03-19 11:25:29 -06:00
parent 208fb3044e
commit 87de6a2c2f
1 changed files with 5 additions and 4 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/AimToCenter.java
+5 -4
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@@ -42,7 +42,7 @@ public class AimToCenter extends CommandBase {
// 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_targetAngle = (aaravAngleToCenter(x, y, m_drive.getRegGyro().getDegrees())) % 360;
System.out.println("Target Angle" + m_targetAngle);
m_turret.runShooterRotatePID(m_targetAngle);
@@ -62,12 +62,13 @@ public class AimToCenter extends CommandBase {
}
public static double aaravAngleToCenter(double x, double y, double gyro) {
double exp = Math.toDegrees(Math.atan(y/x)) - gyro;
double yes = 360 - gyro;
double exp = Math.toDegrees(Math.atan(y/x)) - yes;
if (x > 0) { return exp; }
if (x < 0) { return (180 + exp); }
if (x == 0 && y > 0) { return (90 - gyro); }
if (x == 0 && y < 0) { return (-90 - gyro); }
if (x == 0 && y > 0) { return (90 - yes); }
if (x == 0 && y < 0) { return (-90 - yes); }
System.out.println("Invalid case.");
return 0;