Team4388/RiseOfRidgebotics2020
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hood turret and tracking working

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ryan123rudder
2020-02-29 18:42:37 -07:00
parent 7c9bdc030f
commit 493c4f69de
8 changed files with 184 additions and 35 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+4 -4
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@@ -74,7 +74,7 @@ public class TrackTarget extends CommandBase {
} else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
}
m_shooterAim.runShooterWithInput(turnAmount);
m_shooterAim.runShooterWithInput(-turnAmount);
// Finding Distance
distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));
@@ -84,17 +84,17 @@ 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);
fireAngle = Math.atan(yVel / xVel) * (180/Math.PI);
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle;
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
}
// Returns true when the command should end.