Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

attempt at fix all

Browse Source 
notes: failed
This commit is contained in:
ryan123rudder
2020-03-02 21:03:39 -07:00
parent a6e5103193
commit ddf18c3a93
14 changed files with 100 additions and 105 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/TrackTarget.java
+8 -8
View File
@@ -43,8 +43,6 @@ public class TrackTarget extends CommandBase {
public double m_hoodTrim;
public double m_turretTrim;
ShooterTables m_shooterTable;
/**
* Uses the Limelight to track the target
* @param shooterSubsystem The Shooter subsystem
@@ -63,7 +61,6 @@ public class TrackTarget extends CommandBase {
// Vision Processing Mode
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
m_shooterTable = new ShooterTables();
}
// Called every time the scheduler runs while the command is scheduled.
@@ -92,21 +89,24 @@ public class TrackTarget extends CommandBase {
SmartDashboard.putNumber("Distance to Target", distance);
//START Equation Code
/*
double yVel = Math.sqrt(2 * VisionConstants.GRAV * VisionConstants.TARGET_HEIGHT);
double xVel = (distance * VisionConstants.GRAV) / (yVel);
fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
fireAngle = Math.atan(yVel/xVel) * (180/Math.PI);
*/
//END Equation Code
/*//START CSV Code
fireVel = m_shooterTable.getVelocity(distance);
fireAngle = m_shooterTable.getHood(distance); //Note: Ensure to follow because units are different
//END CSV 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
//fireAngle = 33;
//END CSV Code
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle + m_shooter.shooterTrims.m_hoodTrim;
m_shooter.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
}
}