Sort Commands and Organise Imports

2026-06-09 00:38:00 -06:00 · 2020-03-02 21:45:38 -07:00
parent d4a18c9c57
commit 08d6a3605a
39 changed files with 69 additions and 138 deletions
@@ -0,0 +1,121 @@
+/*----------------------------------------------------------------------------*/
+/* 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.shooter;
+
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.ShooterAim;
+import frc4388.utility.controller.IHandController;
+
+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;
+
+  public double m_hoodTrim;
+  public double m_turretTrim;
+
+  /**
+   * Uses the Limelight to track the target
+   * @param shooterSubsystem The Shooter subsystem
+   * @param aimSubsystem The ShooterAim subsystem
+   */
+  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
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
+  }
+
+  // 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 - m_shooter.shooterTrims.m_turretTrim);
+
+      // Finding Distance
+      distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
+      SmartDashboard.putNumber("Distance to Target", distance);
+
+        //START Equation Code
+        /*
+      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) * (180/Math.PI);
+      */
+        //END Equation Code
+
+        //START CSV Code
+      fireVel = m_shooter.m_shooterTable.getVelocity(distance);
+      fireAngle = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
+      //fireAngle = 33;
+        //END CSV Code
+
+      
+      m_shooter.m_fireVel = fireVel;
+      m_shooter.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
+    }
+  }
+
+  // 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() {
+    if (xAngle < 1 && xAngle > -1 && target == 1)
+    {
+      SmartDashboard.putBoolean("TrackTarget Finished", true);
+      return true;
+    }
+    SmartDashboard.putBoolean("TrackTarget Finished", false);
+    return false;
+  }
+}