+ public static double lidarCalculateAngleToTurn(int position,
+ double horizontalDistToGoal) {
+ double leftDist = Robot.driveTrain.getLeftLidarDistance();
+ double rightDist = Robot.driveTrain.getRightLidarDistance();
+
+ double errorAngle = Math.atan(Math.abs(leftDist - rightDist) / 2);
+ double distToTower;
+ // TODO: figure out if we do want to shoot into the side goal if we are
+ // in position 1 or 2, or if we want to change that
+ if (position == 1 || position == 2) {
+ distToTower = Math
+ .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
+ - DIST_CASTLE_WALL_TO_SIDE_GOAL;
+ }