|
Re: Vision
Thanks. Does this command work with it?
package org.usfirst.frc.team1025.robot.commands;
import org.usfirst.frc.team1025.robot.Robot;
import org.usfirst.frc.team1025.robot.subsystems.Vision;
import edu.wpi.first.wpilibj.command.Command;
/**
*
*/
public class VisionAuton extends Command {
double centerX;
public VisionAuton() {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
requires(Robot.visionSubsystem);
requires(Robot.ChassisSubsystem);
}
// Called just before this Command runs the first time
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
synchronized (Robot.visionSubsystem.imgLock) {
Robot.visionSubsystem.centerX = this.centerX;
}
double Turn = centerX - (Vision.IMG_WIDTH / 2 );
// ask
// Robot.chassisSubsystem.SimpleDrive(leftSpeed, rightSpeed);
Robot.ChassisSubsystem.getRobotDrive().arcadeDrive (-0.6, Turn * 0.005);
}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return false;
}
// Called once after isFinished returns true
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {
}
}
|