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added interpolation

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abhiramtx
2026-01-22 20:03:00 -06:00
parent 76ceb91fb7
commit 45199b952b
1 changed files with 40 additions and 10 deletions
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50
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
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@@ -84,28 +84,58 @@ public class Targeting {
{
}
public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity) {
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 -40.0) * sin45 + (robotY +7.0) * cos45;
double rotatedX = (robotX -40.0) * cos45 - (robotY +7.0) * sin45;
double rotatedY = (robotX - 40.0) * sin45 + (robotY + 7.0) * cos45;
double rotatedX = (robotX - 40.0) * cos45 - (robotY + 7.0) * sin45;
// Convert robot coordinates to inches
robotInchesX = rotatedX * unitConversionFactor;
robotInchesY = rotatedY * unitConversionFactor;
// Find approximate location in the grid
robotGridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) +1);
robotGridX = Math.abs(Math.floorDiv((int) robotInchesX, tileSize) + 1);
robotGridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));
// Use Grid Location to perform lookup
// Keep it simple for now but may want to interpolate results
if ((robotGridY < 6) && (robotGridX <6)) {
recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
//clamp
robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
// basic search
if(!interpolate) {
if ((robotGridY < 6) && (robotGridX <6)) {
recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridY][robotGridX].flywheelRPM;
recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridY][robotGridX].hoodAngle;
}
return recommendedSettings;
} else {
// bilinear interpolation
int x0 = robotGridX;
int x1 = Math.min(x0 + 1, KNOWNTARGETING[0].length - 1);
int y0 = gridY;
int y1 = Math.min(y0 + 1, KNOWNTARGETING.length - 1);
double x = (robotInchesX - (x0 * tileSize)) / tileSize;
double y = (robotInchesY - (y0 * tileSize)) / tileSize;
double rpm00 = KNOWNTARGETING[y0][x0].flywheelRPM;
double rpm10 = KNOWNTARGETING[y0][x1].flywheelRPM;
double rpm01 = KNOWNTARGETING[y1][x0].flywheelRPM;
double rpm11 = KNOWNTARGETING[y1][x1].flywheelRPM;
double angle00 = KNOWNTARGETING[y0][x0].hoodAngle;
double angle10 = KNOWNTARGETING[y0][x1].hoodAngle;
double angle01 = KNOWNTARGETING[y1][x0].hoodAngle;
double angle11 = KNOWNTARGETING[y1][x1].hoodAngle;
recommendedSettings.flywheelRPM = (1 - x) * (1 - y) * rpm00 + x * (1 - y) * rpm10 + (1 - x) * y * rpm01 + x * y * rpm11;
recommendedSettings.hoodAngle = (1 - x) * (1 - y) * angle00 + x * (1 - y) * angle10 + (1 - x) * y * angle01 + x * y * angle11;
return recommendedSettings;
}
return recommendedSettings;
}
}