From b6aa253ff7811d2570a7a819dc274b1d2f8ca7e2 Mon Sep 17 00:00:00 2001
From: Jordan <117786700+jordanjcoderman@users.noreply.github.com>
Date: Wed, 10 Jul 2024 18:45:10 -0700
Subject: [PATCH] testing numbers from anglesearch

---
 src/main/java/frc/robot/config/CompConfig.java   | 16 ++++++++--------
 .../frc/robot/generated/shooting_config.json     | 16 ++++++++--------
 src/main/python/modeling/shooter_model.py        |  4 ++--
 3 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/src/main/java/frc/robot/config/CompConfig.java b/src/main/java/frc/robot/config/CompConfig.java
index 70ceb840..70208065 100644
--- a/src/main/java/frc/robot/config/CompConfig.java
+++ b/src/main/java/frc/robot/config/CompConfig.java
@@ -171,14 +171,14 @@ class CompConfig {
               },
               speakerDistanceToAngle -> {
                 // speakerDistanceToAngle.put(1.38, 58.1);
-                speakerDistanceToAngle.put(0.001,  89.99508625230978);
-                speakerDistanceToAngle.put(2.0,  79.94011474683944);
-                speakerDistanceToAngle.put(2.5,  83.26693402123773);
-                speakerDistanceToAngle.put(4.0,  79.05038667991023);
-                speakerDistanceToAngle.put(4.5,  77.5890447990154);
-                speakerDistanceToAngle.put(6.0,  72.94243600017876);
-                speakerDistanceToAngle.put(6.5,  77.72974197361495);
-                speakerDistanceToAngle.put(8.0,  74.61450991899393);
+                speakerDistanceToAngle.put(0.001,  89.93829077828299);
+                speakerDistanceToAngle.put(2.0,  33.32759006321753);
+                speakerDistanceToAngle.put(2.5,  25.716283037988486);
+                speakerDistanceToAngle.put(4.0,  23.083493490723104);
+                speakerDistanceToAngle.put(4.5,  23.23035360296336);
+                speakerDistanceToAngle.put(6.0,  25.214402600059532);
+                speakerDistanceToAngle.put(6.5,  19.80715521465698);
+                speakerDistanceToAngle.put(8.0,  21.52122342119286);
               },
               floorSpotDistanceToAngle -> {
                 floorSpotDistanceToAngle.put(3.4, 18.0);
diff --git a/src/main/java/frc/robot/generated/shooting_config.json b/src/main/java/frc/robot/generated/shooting_config.json
index 72145110..89c1cc17 100644
--- a/src/main/java/frc/robot/generated/shooting_config.json
+++ b/src/main/java/frc/robot/generated/shooting_config.json
@@ -2,49 +2,49 @@
   {
     "rpm": 3000,
     "distance": 0.001,
-    "angle": 89.99508625230978,
+    "angle": 84.79775367936183,
     "time_of_flight": 100.0
   },
   {
     "rpm": 3000,
     "distance": 2.0,
-    "angle": 79.94011474683944,
+    "angle": 84.79775367936183,
     "time_of_flight": 100.0
   },
   {
     "rpm": 4000,
     "distance": 2.5,
-    "angle": 83.26693402123773,
+    "angle": 84.79775367936183,
     "time_of_flight": 100.0
   },
   {
     "rpm": 4000,
     "distance": 4.0,
-    "angle": 79.05038667991023,
+    "angle": 84.79775367936183,
     "time_of_flight": 100.0
   },
   {
     "rpm": 4000,
     "distance": 4.5,
-    "angle": 77.5890447990154,
+    "angle": 84.79775367936183,
     "time_of_flight": 100.0
   },
   {
     "rpm": 4000,
     "distance": 6.0,
-    "angle": 72.94243600017876,
+    "angle": 84.79775367936183,
     "time_of_flight": 100.0
   },
   {
     "rpm": 4800,
     "distance": 6.5,
-    "angle": 77.72974197361495,
+    "angle": 84.79775367936183,
     "time_of_flight": 100.0
   },
   {
     "rpm": 4800,
     "distance": 8.0,
-    "angle": 74.61450991899393,
+    "angle": 84.79775367936183,
     "time_of_flight": 100.0
   }
 ]
\ No newline at end of file
diff --git a/src/main/python/modeling/shooter_model.py b/src/main/python/modeling/shooter_model.py
index cfcc21dc..079153e2 100644
--- a/src/main/python/modeling/shooter_model.py
+++ b/src/main/python/modeling/shooter_model.py
@@ -155,8 +155,8 @@ def plot(points: [], start: Point, end: Point, dt: float):
   rpos = Point(distance, 0)
   projectile_motion = ProjectileMotion(0.02)
   modelinfo = Model(rpos,goalpos,rpm)
-  # angle = Vector.fromradians(getangle(modelinfo,projectile_motion))
-  angle = Vector.fromradians(modelinfo.get_angle())
+  angle = Vector.fromradians(getangle(modelinfo,projectile_motion))
+  # angle = Vector.fromradians(modelinfo.get_angle())
   points = projectile_motion.getpoints(Vector(Vector.fromdegrees(angle), modelinfo.get_vel(rpm)), rpos)
   time_of_flight = projectile_motion.get_travel_time(points)