Team4388/RiseOfRidgebotics2020
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Merge branch 'master-updates' into buckmeister's-wacky-code-changes

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Keenan D. Buckley
2020-03-03 01:25:22 -07:00
parent faf9346f6e 694ab7482f
commit 14c3ea82a5
4 changed files with 19 additions and 22 deletions
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src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+3 -5
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@@ -77,25 +77,23 @@ public class TrackTarget extends CommandBase {
} else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
}
m_shooterAim.runShooterWithInput(-turnAmount - m_shooter.shooterTrims.m_turretTrim);
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)));
//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 = m_shooter.m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
//fireAngle = 33;
//END CSV Code