- 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;
- }
-
- // TODO: figure out if we do want to shoot into the font goal if we are
- // in position 3, 4, 5, or if we want to change that
- else {
- distToTower = Math
- .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
- - DIST_CASTLE_WALL_TO_SIDE_GOAL;
- }
-
- double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
-
- return angleToTurn;
- }
+ // following commented out method is calculations for path of robot in auton
+ // after passing through defense using two lidars
+ /*
+ * 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;
+ * }
+ *
+ * // TODO: figure out if we do want to shoot into the font goal if we are
+ * // in position 3, 4, 5, or if we want to change that
+ * else {
+ * distToTower = Math
+ * .cos(CENTER_OF_MASS_TO_ROBOT_FRONT + (leftDist - rightDist) / 2)
+ * - DIST_CASTLE_WALL_TO_SIDE_GOAL;
+ * }
+ *
+ * double angleToTurn = Math.atan(distToTower / horizontalDistToGoal);
+ *
+ * return angleToTurn;
+ * }
+ */