Add Shooting capabilities

src/main/java/frc4388/robot/Constants.java

@@ -137,6 +137,7 @@ public final class Constants {
         public static final double MOTOR_DEAD_ZONE = 0.3;
         public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
         public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
+        public static final double GRAV = 385.83;
         }
 
     public static final class OIConstants {

src/main/java/frc4388/robot/RobotContainer.java

@@ -30,6 +30,7 @@ import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.commands.RunLevelerWithJoystick;
+import frc4388.robot.commands.ShootShooter;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
@@ -106,8 +107,11 @@ public class RobotContainer {
         //    .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
         //    .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
       
-        new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
-            .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
+        new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
+            .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5));
+
+        new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
+            .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 1));
             
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
             .whileHeld(new TrackTarget(m_robotShooter));

src/main/java/frc4388/robot/commands/ShootShooter.java

@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+
+import edu.wpi.first.wpilibj.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.Constants.ShooterConstants;
+import frc4388.robot.commands.TrackTarget;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.robot.subsystems.Storage;
+
+public class ShootShooter extends CommandBase {
+  Shooter m_shooter;
+  Storage m_storage;
+  private long startTime;
+  private int ballNum;
+  /**
+   * Creates a new ShootAlll.
+   */
+  public ShootShooter(Shooter shootSub, Storage storeSub, int numBall) {
+    ballNum = numBall;
+    m_shooter = shootSub;
+    m_storage = storeSub;
+    addRequirements(m_shooter);
+    addRequirements(m_storage);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    startTime = System.currentTimeMillis();
+    //new InstantCommand(() -> m_storage.storageAiming());
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    TrackTarget track = new TrackTarget(m_shooter); //Used to pull velocity and angle from TrackTarget.java
+
+      //Aiming
+    if (startTime + 3000 > System.currentTimeMillis())
+    {
+      new ShooterVelocityControlPID(m_shooter, track.addFireVel());
+    }
+    
+    else if(3000 + startTime + (1000 * ballNum) > System.currentTimeMillis()){
+      new RunCommand(() -> m_storage.runStorage(0.5));
+      new ShooterVelocityControlPID(m_shooter, track.addFireVel());
+      new RunCommand(() -> m_shooter.runAngleAdjustPID(track.addFireAngle()));
+    }
+  }
+
+  // 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 (3000 + startTime + (1000 * ballNum) > System.currentTimeMillis()){
+      return true;
+    }
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/TrackTarget.java

@@ -7,6 +7,7 @@
 
 package frc4388.robot.commands;
 
+import frc4388.robot.Constants.ShooterConstants;
 import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Shooter;
@@ -28,6 +29,8 @@ public class TrackTarget extends CommandBase {
   double yAngle = 0;
   double target = 0;
   public double distance;
+  public static double fireVel;
+  public static double fireAngle;
 
   /**
    * Uses the Limelight to track the target
@@ -46,6 +49,13 @@ public class TrackTarget extends CommandBase {
     NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
   }
 
+  public double addFireVel() {
+    return fireVel;
+  }
+  public double addFireAngle() {
+    return fireAngle;
+  }
+
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
@@ -65,6 +75,12 @@ public class TrackTarget extends CommandBase {
         //Finding Distance
       distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
       SmartDashboard.putNumber("Distance to Target", distance);
+
+      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);
     }
   }