extender and intake changes

src/main/java/frc4388/robot/commands/ShooterCommands/AimToCenter.java

@@ -0,0 +1,85 @@
+// 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.ShooterCommands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.ShooterConstants;
+import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.robot.subsystems.Turret;
+import frc4388.robot.subsystems.VisionOdometry;
+
+public class AimToCenter extends CommandBase {
+  /** Creates a new AimWithOdometry. */
+  Turret m_turret;
+  SwerveDrive m_drive;
+  VisionOdometry m_visionOdometry;
+
+  // use odometry to find x and y later
+  double x;
+  double y;
+  double m_targetAngle;
+
+  // public static Gains m_aimGains;
+
+  public AimToCenter(Turret turret, SwerveDrive drive, VisionOdometry visionOdometry) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_turret = turret;
+    m_drive = drive;
+    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_turret.runShooterRotatePID(m_targetAngle);
+
+    // Check if limelight is within range (comment out to disable vision odo)
+    if (Math.abs(m_turret.getBoomBoomAngleDegrees() - m_targetAngle) < VisionConstants.RANGE){
+      m_visionOdometry.updateOdometryWithVision();
+      m_visionOdometry.setLEDs(true);
+    }
+    else{
+      m_visionOdometry.setLEDs(false);
+    }
+  }
+
+  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 deadzone.
+   * @param angle Angle to check.
+   * @return True if in deadzone.
+   */
+  public static boolean isDeadzone(double angle) {
+    if (angle == Double.NaN) {
+      return false;
+    }
+    return !((ShooterConstants.TURRET_REVERSE_LIMIT <= angle) && (angle <= ShooterConstants.TURRET_FORWARD_LIMIT));
+  }
+
+  // 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;
+  }
+}