aimtocenter

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

@@ -0,0 +1,56 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.robot.subsystems.Turret;
+
+public class AimToCenter extends CommandBase {
+  /** Creates a new AimWithOdometry. */
+  Turret m_turret;
+  SwerveDrive m_drive;
+
+  // use odometry to find x and y later
+  double x = 0;
+  double y = 0;
+  double z = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2));
+  double m_targetAngle;
+  
+  // public static Gains m_aimGains;
+
+  public AimToCenter(Turret turret, SwerveDrive drive) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_turret = turret;
+    m_drive = drive;
+    addRequirements(m_turret, m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_targetAngle = m_turret.getBoomBoomAngleDegrees() + m_drive.gyro.getAngle() + Math.atan(y/x);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    aimTurret(m_targetAngle);
+  }
+
+  public void aimTurret(double targetAngle) { //Split into configure and run
+    m_turret.runshooterRotatePID(targetAngle);
+  }
+  
+  // 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;
+  }
+}