Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

random changes bc im bored

Browse Source
This commit is contained in:
aarav18
2022-02-28 16:50:55 -07:00
parent fa15241483
commit a61ec76d47
2 changed files with 12 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/AimToCenter.java
+3 -5
View File
@@ -15,9 +15,8 @@ public class AimToCenter extends CommandBase {
SwerveDrive m_drive;
// use odometry to find x and y later
double x = 0;
double y = 0;
double angle = 0;
double x;
double y;
double m_targetAngle;
// public static Gains m_aimGains;
@@ -45,8 +44,7 @@ public class AimToCenter extends CommandBase {
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);
//m_turret.runshooterRotatePID(m_targetAngle);
return angle;
}
/**