Team4388/RiseOfRidgebotics2020
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Shooter PREP

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ryan123rudder
2020-02-22 13:01:50 -07:00
parent 5534ff6ef2
commit 77e536d2b1
6 changed files with 80 additions and 20 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+8 -1
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@@ -68,7 +68,7 @@ public class TrackTarget 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/5);
m_shooterAim.runShooterWithInput(turnAmount/3);
//Finding Distance
distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
@@ -81,6 +81,7 @@ public class TrackTarget extends CommandBase {
fireAngle = Math.atan(yVel/xVel);
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle;
}
}
@@ -95,6 +96,12 @@ public class TrackTarget extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
double upperLimit = xAngle + 0.05;
double lowerLimit = xAngle - 0.05;
if (xAngle < upperLimit && xAngle > lowerLimit)
{
return true;
}
return false;
}
}