From 1ad33fd45b54df90e885a0905fa21b659b9945e5 Mon Sep 17 00:00:00 2001 From: DanTheMan-byte Date: Sat, 21 Feb 2026 12:01:20 -0600 Subject: [PATCH] targeting angle determined --- .../firstinspires/ftc/teamcode/utils/Targeting.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java index 9d46f99..d073d91 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java @@ -84,11 +84,11 @@ public class Targeting { public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) { Settings recommendedSettings = new Settings(0.0, 0.0); - - double cos45 = Math.cos(Math.toRadians(-45)); - double sin45 = Math.sin(Math.toRadians(-45)); - double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45; - double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45; + // TODO: test these values determined from the fmap + double cos54 = Math.cos(Math.toRadians(-54)); + double sin54 = Math.sin(Math.toRadians(-54)); + double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54; + double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54; // Convert robot coordinates to inches robotInchesX = rotatedX * unitConversionFactor;