Team4388/2023WayOfTheRobot
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target alignment basically completed

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aarav18
2023-03-16 19:10:26 -06:00
parent 39640662d9
commit fe5a07bd17
6 changed files with 105 additions and 31 deletions
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src/main/java/frc4388/robot/commands/LimeAlign.java
+7 -2
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@@ -17,7 +17,7 @@ public class LimeAlign extends PelvicInflammatoryDisease {
Limelight lime;
public LimeAlign(SwerveDrive drive, Limelight lime) {
super(0.7, 0.1, 0.0, 0.0, 0);
super(0.7, 0.4, 0.0, 0.0, 0.04);
this.drive = drive;
this.lime = lime;
@@ -27,10 +27,15 @@ public class LimeAlign extends PelvicInflammatoryDisease {
@Override
public double getError() {
if (lime.numTargets() > 2) {
return 0.0;
}
double err = 0.0;
try {
err = lime.getFirstTargetPoint().getYaw() / (VisionConstants.H_FOV / 2);
err = lime.getLowestTargetPoint().getYaw() / (VisionConstants.H_FOV / 2);
} catch (NullPointerException ex) {}
return err;