Team4388/RiseOfRidgebotics2020
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Gettign trimming to work (this may not work)

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ryan123rudder
2020-02-29 23:45:07 -07:00
parent eb129c6b34
commit 272951ed67
7 changed files with 122 additions and 14 deletions
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src/main/java/frc4388/robot/commands/HoldTarget.java
+7 -4
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@@ -32,8 +32,11 @@ public class HoldTarget extends CommandBase {
double yAngle = 0;
double target = 0;
public double distance;
public static double fireVel;
public static double fireAngle;
public double fireVel;
public double fireAngle;
public double m_hoodTrim;
public double m_turretTrim;
/**
* Uses the Limelight to track the target
@@ -69,7 +72,7 @@ public class HoldTarget extends CommandBase {
//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_shooterAim.runShooterWithInput(-turnAmount - m_shooter.shooterTrims.m_turretTrim);
//Finding Distance
distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
@@ -81,7 +84,7 @@ public class HoldTarget extends CommandBase {
fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
fireAngle = Math.atan(yVel/xVel) * (180/Math.PI);
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle;
m_shooter.m_fireAngle = fireAngle + m_shooter.shooterTrims.m_hoodTrim;
}/*
else{