team2059/ford-java
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lowered goal height correction

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This commit is contained in:
Adam Long 2016-10-15 15:50:48 +00:00
parent a842fbb4ad
commit 77f44f8c36
1 changed files with 1 additions and 1 deletions
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src/org/usfirst/frc/team2059/robot/subsystems/MainArm.java
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@ -90,7 +90,7 @@ public class MainArm extends PIDSubsystem {
return false; return false;
} }
public double getShooterAngleError(){ public double getShooterAngleError(){
double correctedHeight = (RobotMap.goalHeight + 24) - 44; //44 is the distance between the ground and the sonar double correctedHeight = (RobotMap.goalHeight + 16) - 44; //44 is the distance between the ground and the sonar
return (180/Math.PI) * Math.atan(correctedHeight/(getSonarDistance()-1)); return (180/Math.PI) * Math.atan(correctedHeight/(getSonarDistance()-1));
} }
public double getSonarDistanceRaw(){ public double getSonarDistanceRaw(){