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unnecessary stuff commented out

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Pushkar9236
2022-01-27 18:48:27 -07:00
parent e76d116128
commit b786e10610
1 changed files with 22 additions and 22 deletions
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src/main/java/frc4388/robot/subsystems/Vision.java
+22 -22
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@@ -57,35 +57,35 @@ public void track(){
distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
realDistance = (1.09 * distance) - 12.8;
if (target == 1.0) { //checks if target is in view
//aims left and right
turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE);
if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) {
turnAmount = 0;
}
else if (turnAmount > 0 && turnAmount < 0.1){
turnAmount = 0.1;
}
else if (turnAmount < 0 && turnAmount > -0.1){
turnAmount = -0.1;
}
}
// if (target == 1.0) { //checks if target is in view
// //aims left and right
// turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE);
// if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) {
// turnAmount = 0;
// }
// else if (turnAmount > 0 && turnAmount < 0.1){
// turnAmount = 0.1;
// }
// else if (turnAmount < 0 && turnAmount > -0.1){
// turnAmount = -0.1;
// }
// }
SmartDashboard.putNumber("Distance to Target", realDistance);
//start CSV
// //start CSV
fireVel = m_boomBoom.m_shooterTable.getVelocity(realDistance);
fireAngle = m_boomBoom.m_shooterTable.getHood(realDistance);
//fire angle unknown so far
//end of CSV
// fireVel = m_boomBoom.m_shooterTable.getVelocity(realDistance);
// fireAngle = m_boomBoom.m_shooterTable.getHood(realDistance);
// //fire angle unknown so far
// //end of CSV
m_boomBoom.m_fireVel = fireVel;
m_hood.m_fireAngle = fireAngle;
m_turret.m_targetDistance = distance;
// m_boomBoom.m_fireVel = fireVel;
// m_hood.m_fireAngle = fireAngle;
// m_turret.m_targetDistance = distance;
checkFinished();
// checkFinished();
}
public void checkFinished(){