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Merge branch 'master' into fix-storage-2-electric-bogaloo

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ryan123rudder
2020-03-09 19:13:52 -06:00
committed by GitHub
parent f19716ba8f 96c4f644bf
commit e4b9969244
5 changed files with 52 additions and 23 deletions
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src/main/java/frc4388/utility/ShooterTables.java
+20 -1
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@@ -20,12 +20,13 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
* Add your docs here.
*/
public class ShooterTables {
double[][] m_distance = new double[50][3];
double[][] m_distance = new double[50][4];
double[][] m_angle = new double[50][2];
final int m_columnDistance = 0;
final int m_columnHood = 1;
final int m_columnVel = 2;
final int m_columnCenterDisplacement = 3;
final int m_columnAngle = 0;
final int m_columnDisplacement = 1;
@@ -55,6 +56,7 @@ public class ShooterTables {
m_distance[lineNum - 1][m_columnDistance] = Double.parseDouble(values[0]);
m_distance[lineNum - 1][m_columnHood] = Double.parseDouble(values[1]);
m_distance[lineNum - 1][m_columnVel] = Double.parseDouble(values[2]);
m_distance[lineNum - 1][m_columnCenterDisplacement] = Double.parseDouble(values[3]);
lineNum ++;
}
@@ -126,6 +128,23 @@ public class ShooterTables {
}
}
public double getCenterDisplacement(double distance) { //Degrees of Lime FOV
int i = 0;
while ((i < m_distanceLength) && (m_distance[i][m_columnDistance] < distance)) {
i ++;
}
if ((i < m_distanceLength) && (m_distance[i][m_columnDistance] == distance)) {
return m_distance[i][m_columnCenterDisplacement];
} else {
if (i >= m_distanceLength) {
i = m_distanceLength - 1;
}
return linearInterpolation(i, distance, m_columnCenterDisplacement, m_distance);
}
}
public double getAngleDisplacement(double angle) {
int i = 0;
while ((i < m_angleLength) && (m_angle[i][m_columnAngle] < angle)) {