RiseOfRidgebotics2020/src/main/java/frc4388/robot/commands/TrackTarget.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot.commands;

import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.LimeLight;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.utility.controller.IHandController;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class TrackTarget extends CommandBase {
  // Setup
  NetworkTableEntry xEntry;
  ShooterAim m_shooterAim;
  Shooter m_shooter;
  IHandController m_driverController;
  // Aiming
  double turnAmount = 0;
  double xAngle = 0;
  double yAngle = 0;
  double target = 0;
  public double distance;
  public static double fireVel;
  public static double fireAngle;

  /**
   * Uses the Limelight to track the target
   */
  public TrackTarget(Shooter shooterSubsystem, ShooterAim aimSubsystem) {
    m_shooterAim = aimSubsystem;
    m_shooter = shooterSubsystem;
    addRequirements(m_shooterAim);
    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    // Vision Processing Mode
    LimeLight.limeOn();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    target = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
    xAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
    yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);

    if (target == 1.0) { // If target in view
      // Aiming Left/Right
      turnAmount = (xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE;
      if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) {
        turnAmount = 0;
      } // Angle Error Zone
      // Deadzones
      else if (turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE) {
        turnAmount = VisionConstants.MOTOR_DEAD_ZONE;
      } else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
        turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
      }
      m_shooterAim.runShooterWithInput(turnAmount / 3);

      // Finding Distance
      distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
      SmartDashboard.putNumber("Distance to Target", distance);

      double yVel = Math.sqrt(2 * VisionConstants.GRAV * VisionConstants.TARGET_HEIGHT);
      double xVel = (distance * VisionConstants.GRAV) / (yVel);

      fireVel = Math.sqrt((Math.pow(xVel, 2)) + (Math.pow(yVel, 2)));
      fireAngle = Math.atan(yVel / xVel);
      m_shooter.m_fireVel = fireVel;
      m_shooter.m_fireAngle = fireAngle;

    }
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    // Drive Camera Mode
    LimeLight.limeOff();
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    if (xAngle < 1 && xAngle > -1)
    {
      return true;
    }
    return false;
  }
}