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Implement new CSV system

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nathanrsxtn
2021-10-07 17:02:09 -06:00
parent 8a3db9133f
commit a17427f6c8
6 changed files with 441 additions and 239 deletions
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src/main/java/frc4388/robot/commands/shooter/TrackTarget.java
+4 -4
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@@ -76,7 +76,7 @@ public class TrackTarget extends CommandBase {
if (target == 1.0) { // If target in view
// Aiming Left/Right
xAngle = xAngle + m_shooter.m_shooterTable.getCenterDisplacement(realDistance);
xAngle = xAngle + m_shooter.getCenterDisplacement(realDistance);
turnAmount = ((xAngle / VisionConstants.FOV) * VisionConstants.TURN_P_VALUE);
if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR) {
turnAmount = 0;
@@ -92,7 +92,7 @@ public class TrackTarget extends CommandBase {
//m_shooterAim.runshooterRotatePID(targetAngle);
SmartDashboard.putNumber("Distance to Target", realDistance);
SmartDashboard.putNumber("Center Displacement", m_shooter.m_shooterTable.getCenterDisplacement(realDistance));
SmartDashboard.putNumber("Center Displacement", m_shooter.getCenterDisplacement(realDistance));
//START Equation Code
double yVel = Math.sqrt(2 * VisionConstants.GRAV * VisionConstants.TARGET_HEIGHT);
double xVel = (distance * VisionConstants.GRAV) / (yVel);
@@ -102,8 +102,8 @@ public class TrackTarget extends CommandBase {
//END Equation Code
//START CSV Code
fireVel = m_shooter.m_shooterTable.getVelocity(realDistance);
fireAngle = m_shooter.m_shooterTable.getHood(realDistance); //Note: Ensure to follow because units are different
fireVel = m_shooter.getVelocity(realDistance);
fireAngle = m_shooter.getHood(realDistance); //Note: Ensure to follow because units are different
//fireAngle = 33;
//END CSV Code