Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 08:48:07 -06:00
Code Issues Packages Projects Releases Wiki Activity

unnecessary stuff commented out

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