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This commit is contained in:
Ryan
2022-03-24 15:41:08 -06:00
parent 58125a62de
commit 9c7979e1f0
3 changed files with 170 additions and 88 deletions
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src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+16 -16
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@@ -35,7 +35,7 @@ public class TrackTarget extends CommandBase {
BoomBoom m_boomBoom;
Hood m_hood;
boolean isAuto;
// boolean isAuto;
static double velocity;
static double hoodPosition;
@@ -55,22 +55,22 @@ public class TrackTarget extends CommandBase {
long startTime;
private double timeTolerance;
public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry, boolean isAuto) {
public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry/*, boolean isAuto*/) {
m_turret = turret;
m_boomBoom = boomBoom;
m_hood = hood;
m_visionOdometry = visionOdometry;
this.isAuto = isAuto;
// this.isAuto = isAuto;
this.timeTolerance = 1000;
addRequirements(m_turret, m_boomBoom, m_hood, m_visionOdometry);
SmartDashboard.putNumber("Distance Adjust", 20);
SmartDashboard.putNumber("Distance Adjust", -35);
}
public TrackTarget(Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
this(turret, boomBoom, hood, visionOdometry, false);
}
// public TrackTarget(Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
// this(turret, boomBoom, hood, visionOdometry, false);
// }
// Called when the command is initially scheduled.
@Override
@@ -111,7 +111,7 @@ public class TrackTarget extends CommandBase {
double regressedDistance = getDistance(average.y);
// ! no longer a +30 lol -aarav
double distAdj = SmartDashboard.getNumber("Distance Adjust", 20);
double distAdj = SmartDashboard.getNumber("Distance Adjust", -35);
velocity = m_boomBoom.getVelocity(regressedDistance + distAdj);
hoodPosition = m_boomBoom.getHood(regressedDistance + distAdj);
@@ -196,14 +196,14 @@ public class TrackTarget extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (this.isAuto) {
if (targetLocked && !timerStarted) {
timerStarted = true;
startTime = System.currentTimeMillis();
}
return (targetLocked && timerStarted && ((System.currentTimeMillis() - startTime) > timeTolerance));
} else {
// if (this.isAuto) {
// if (targetLocked && !timerStarted) {
// timerStarted = true;
// startTime = System.currentTimeMillis();
// }
// return (targetLocked && timerStarted && ((System.currentTimeMillis() - startTime) > timeTolerance));
// } else {
return false;
}
// }
}
}