From c274989aacc7e9a1ae6bdac476eae6e071ca822f Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Thu, 4 Mar 2021 17:26:04 -0700 Subject: [PATCH] Adjustments for shooter Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- src/main/java/frc4388/robot/Constants.java | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 10 ++++++---- .../frc4388/robot/commands/shooter/TrackTarget.java | 2 +- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 6521b27..831163e 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -212,7 +212,7 @@ 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 = 71.5; + public static final double TARGET_HEIGHT = 67.5; public static final double LIME_ANGLE = 24.7; public static final double TURN_P_VALUE = 0.8; public static final double X_ANGLE_ERROR = 1.3; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 925e2a4..f129ce7 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -236,12 +236,14 @@ public class RobotContainer { // extends or retracts the extender new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) - .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) - .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(0.5))) + //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(0.5), m_robotShooterHood)); new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) - .whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) - .whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + //.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5))) + //.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0))); + .whileHeld(new RunCommand(() -> m_robotShooterHood.runHood(-0.5), m_robotShooterHood)); // safety for climber and leveler new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON) diff --git a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java index 3f46e9f..05d652d 100644 --- a/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java +++ b/src/main/java/frc4388/robot/commands/shooter/TrackTarget.java @@ -69,7 +69,7 @@ public class TrackTarget extends CommandBase { yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0); // Finding Distance - distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); + distance = (VisionConstants.TARGET_HEIGHT) / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180)); realDistance = (1.09 * distance) - 12.8;