KeshavAnandCode/FTCDecodeMain
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fixed a small error

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DanTheMan-byte
2026-02-21 12:54:27 -06:00
parent a695f19cc6
commit e87c5bb845
1 changed files with 3 additions and 2 deletions
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5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
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@@ -82,11 +82,12 @@ public class Targeting {
public Targeting() {
}
double cos54 = Math.cos(Math.toRadians(-54));
double sin54 = Math.sin(Math.toRadians(-54));
public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
Settings recommendedSettings = new Settings(0.0, 0.0);
// 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;