Team4388/RiseOfRidgebotics2020
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Full sequence possibly working, Full turret working

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ryan123rudder
2020-02-29 21:03:19 -07:00
parent 5da6ce766e
commit eb129c6b34
8 changed files with 26 additions and 19 deletions
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src/main/java/frc4388/robot/commands/TrackTarget.java
+3 -4
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@@ -83,8 +83,8 @@ public class TrackTarget extends CommandBase {
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);
fireVel = Math.sqrt((Math.pow(xVel, 2))+(Math.pow(yVel,2)));
fireAngle = Math.atan(yVel/xVel) * (180/Math.PI);
m_shooter.m_fireVel = fireVel;
m_shooter.m_fireAngle = fireAngle;
}
@@ -93,8 +93,7 @@ public class TrackTarget extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
}
// Returns true when the command should end.