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Lime distance within 5 in

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Co-Authored-By: Keenan D. Buckley <hfocus@users.noreply.github.com>
This commit is contained in:
ryan123rudder
2020-03-07 11:22:32 -07:00
parent a856a66339
commit 9d4f9f7020
2 changed files with 7 additions and 5 deletions
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src/main/java/frc4388/robot/Constants.java
+2 -2
View File
@@ -198,8 +198,8 @@ public final class Constants {
public static final class VisionConstants {
public static final double FOV = 29.8; //Field of view of limelight
public static final double TARGET_HEIGHT = 71;
public static final double LIME_ANGLE = 25;
public static final double TARGET_HEIGHT = 66.75;
public static final double LIME_ANGLE = 28.387;
public static final double TURN_P_VALUE = 0.6;
public static final double X_ANGLE_ERROR = 1.3;
public static final double MOTOR_DEAD_ZONE = 0.3;
src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+5 -3
View File
@@ -32,6 +32,7 @@ public class TrackTarget extends CommandBase {
double yAngle = 0;
double target = 0;
public double distance;
public double realDistance;
public static double fireVel;
public static double fireAngle;
@@ -83,7 +84,8 @@ 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);
realDistance = (1.13 * distance) - 14.3;
SmartDashboard.putNumber("Distance to Target", realDistance);
SmartDashboard.putNumber("ts Skew or Rotation", NetworkTableInstance.getDefault().getTable("limelight").getEntry("ts").getDouble(0));
SmartDashboard.putNumber("ta Area", NetworkTableInstance.getDefault().getTable("limelight").getEntry("ta").getDouble(0));
//START Equation Code
@@ -95,8 +97,8 @@ public class TrackTarget extends CommandBase {
//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
fireVel = m_shooter.m_shooterTable.getVelocity(realDistance);
fireAngle = m_shooter.m_shooterTable.getHood(realDistance); //Note: Ensure to follow because units are different
//fireAngle = 33;
//END CSV Code