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i didn't write this ocde #7

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50 changes: 26 additions & 24 deletions 2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LEDSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,6 @@
import edu.wpi.first.wpilibj.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.LimeLight;
import frc.robot.subsystems.LimelightSubsystem;

public class LEDSubsystem extends SubsystemBase {
Expand All @@ -22,7 +21,7 @@ public class LEDSubsystem extends SubsystemBase {
AddressableLEDBuffer m_ledBuffer;

public LEDSubsystem() {
// PWM port 9
// PWM port 9
m_led = new AddressableLED(9);

m_ledBuffer = new AddressableLEDBuffer(60);
Expand All @@ -34,7 +33,7 @@ public LEDSubsystem() {

public void LED() {
for (var i = 0; i < m_ledBuffer.getLength(); i++) {
// Sets the specified LED to the HSV values for red
// Sets the specified LED to the HSV values for red
m_ledBuffer.setHSV(i, 180, 98, 59);
}
m_led.setData(m_ledBuffer);
Expand All @@ -61,28 +60,31 @@ private void turretAlignmentLEDs(){
}
}

// private void frontLEDs(){
// int i;
// //boolean forwardDrive = DriveSubsystem.m_driveForward;
// while(forwardDrive){
// m_ledBuffer.setHSV(i, 190 + (i * (80/m_ledBuffer.getLength())), 100, 50); //Set farthest 2 LEDs
// m_led.setData(m_ledBuffer);
// i = i + 1;
// if(i > m_ledBuffer.getLength())
// {
// i = 0;
// }
// }
// m_ledBuffer.setHSV(i, 270 - (i * (80/m_ledBuffer.getLength())), 100, 50); //Set farthest 2 LEDs
// m_led.setData(m_ledBuffer);
// i = i + 1;
private void frontDrivingLEDs(){
int i = 0;
boolean forwardDrive = true; //Change to m_forwardDrive
while(forwardDrive){
m_ledBuffer.setHSV(i, 190 + (i * (80/m_ledBuffer.getLength())), 100, 100); //Set farthest 2 LEDs
m_led.setData(m_ledBuffer);
i ++;
if(i > m_ledBuffer.getLength())
{
i = 0;
}
}
m_ledBuffer.setHSV(i, 270 - (i * (80/m_ledBuffer.getLength())), 100, 100); //Set farthest 2 LEDs
m_led.setData(m_ledBuffer);
i ++;

if(i > m_ledBuffer.getLength())
{
i = 0;
}
}
}

//we need an LED to describe when the shooter and/or feeder is on

// if(i > m_ledBuffer.getLength())
// {
// i = 0;
// }
// }
}
/*
private fullFireSpeed(){

Expand Down
6 changes: 4 additions & 2 deletions 2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/LimelightSubsystem.java
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Expand Up @@ -32,6 +32,7 @@ public class LimelightSubsystem extends SubsystemBase {
public static double xOffset;
public static double point3Angle;
public static boolean limelightTargetingStatic = true;
public double limelightMountAngle = 7.75;

public LimelightSubsystem() {
table = NetworkTableInstance.getDefault().getTable("limelight");
Expand All @@ -57,17 +58,18 @@ public void updateLimeLightValues() {
}
public void getDistance() {
//Angle (in degrees) the limelight is mounted at
final double limeLightDefAngle = 16.3; //NEW VALUE NEEDED
final double limeLightDefAngle = .2 + limelightMountAngle + 2.4; //NEW VALUE NEEDED
//Add the mount angle to the yangle gotten
yAngleDegrees = yAngleDegrees + limeLightDefAngle;
//Convert the new yangle into radians for the tangent
yAngleRadians = Math.toRadians(yAngleDegrees);
//Get the tangent of the new yangle
tyTangent = Math.tan(yAngleRadians);
//Divide the tangent by the magic number gotten from a sample at 166.6in from target straight on
dist = 70.5 / tyTangent; //NEW NUMBER MAY NEED TO BE GOTTEN WITH NEW ROBOT
dist = 57.25 / tyTangent; //NEW NUMBER MAY NEED TO BE GOTTEN WITH NEW ROBOT
//plug the number into the desmos graph
dist = dist * 1.096 - 16.0466; //Desmos correction graph REQUIRES TESTING WITH NEW ROBOT
dist = dist - 4.5; //Distance from camera lens to center of ball output
}

public static void toggleAimAssist() {
Expand Down
5 changes: 2 additions & 3 deletions 2020_Robot_Code/2020_Real/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -157,9 +157,8 @@ else if(((!m_leftLimit.get() && (azimuthSpeed>0)) || (!m_rightLimit.get() &&(azi
}

public boolean setAzimuthMotorAutomatic(double azimuthSpeed){
m_limeLight.gettxValue();

if((-.75 < xOffset)||(xOffset < .75))
double xOffset = LimelightSubsystem.gettxValue();
if((-.75 < xOffset)&&(xOffset < .75))
{
azimuthSpeed = 0;
}
Expand Down