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SHOOTER WORKS SEMI MANUAL

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ryan123rudder
2020-03-03 20:59:00 -07:00
parent b8a6e59fac
commit 2f6b219303
14 changed files with 71 additions and 47 deletions
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src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+5 -2
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@@ -88,15 +88,18 @@ public class TrackTarget extends CommandBase {
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);
//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
//fireVel = SmartDashboard.getNumber("Velocity Target", 0);
//fireAngle = SmartDashboard.getNumber("Angle Target", 3);
m_shooter.m_fireVel = fireVel;
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;