Team4388/RiseOfRidgebotics2020
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buttons n' stuff

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ryan123rudder
2020-02-18 18:41:12 -07:00
parent 9e84eb5556
commit b30407e9d7
3 changed files with 7 additions and 8 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+2 -2
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@@ -52,7 +52,7 @@ public class TrackTarget extends CommandBase {
target = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
xAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
if (target == 1.0){ //If target in view
//Aiming Left/Right
turnAmount = (xAngle/VisionConstants.FOV)*VisionConstants.TURN_P_VALUE;
@@ -60,7 +60,7 @@ 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_shooter.runShooterWithInput(turnAmount/2);
m_shooter.runShooterWithInput(turnAmount/5);
//Finding Distance
distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));