From 991701e04f0c6c3d76cf3c6ddc7637028fe01cb4 Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Fri, 8 Apr 2022 14:40:16 -0600 Subject: [PATCH] shooter fixes --- src/main/deploy/ShooterData.csv | 5 +++-- src/main/java/frc4388/robot/RobotContainer.java | 2 +- .../robot/commands/ShooterCommands/TrackTarget.java | 9 ++++----- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/deploy/ShooterData.csv b/src/main/deploy/ShooterData.csv index d833fcb..bfde1f9 100644 --- a/src/main/deploy/ShooterData.csv +++ b/src/main/deploy/ShooterData.csv @@ -2,8 +2,9 @@ Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) 0 ,-29.5 ,8000 78.5 ,-29.5 ,8500 88 ,-34.2 ,8600 -90 ,-35.47 ,9500 -99 ,-39.62 ,9500 +90 ,-36.47 ,9000 +92.2 ,-50 ,8500 +99 ,-41 ,9500 111 ,-42 ,9500 127.25 ,-49.12 ,9500 141 ,-59.4 ,9900 diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 3559a0b..92daf84 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -496,7 +496,7 @@ public class RobotContainer { SequentialCommandGroup extendThenAimTurret() { return new SequentialCommandGroup( new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), - new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-180), m_robotTurret), 0.5, true) // TODO: optimize time + new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-175), m_robotTurret), 0.5, true) // TODO: optimize time ); } diff --git a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java index 82be61f..05877cf 100644 --- a/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java @@ -118,19 +118,18 @@ public class TrackTarget extends CommandBase { // true); double regressedDistance = getDistance(average.y); - + double distAdj = SmartDashboard.getNumber("Distance Adjust", -35); // ! offset trig solution - double desiredOffset = 10; // * inches - double angleOffset = Math.toDegrees(Math.atan(desiredOffset / regressedDistance)); // * degrees + double desiredOffset = 2; // * inches + double angleOffset = Math.toDegrees(Math.atan(desiredOffset / (regressedDistance + distAdj))); // * degrees double pixelOffset = angleOffset * VisionConstants.PIXELS_PER_DEGREE; - double output = ((average.x + 40) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS; + double output = ((average.x - pixelOffset) - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS; output *= 2.1; m_turret.runTurretWithInput(output); // ! no longer a +30 lol -aarav - double distAdj = SmartDashboard.getNumber("Distance Adjust", -35); velocity = m_boomBoom.getVelocity(regressedDistance + distAdj); hoodPosition = m_boomBoom.getHood(regressedDistance + distAdj);