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Main.java
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Main.java
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import java.io.FileWriter;
import java.io.IOException;
import java.util.Arrays;
import java.util.List;
public class Main {
RootFinder rootFinder = new RootFinder();
public static void main(String[] args) {
// this code is very effective until around 30 feet which is further than podium so it doesnt matter lol
// the reason its uneffective at until 30 is bc the note needs to follow the trajectory and enter the speaker
// before the trajectory reaches its apex and around 30 feet is when it reaches the apex
// i mean if we increase velocity more around there it should work, not sure why it doesnt rn
// but it doesnt matter because 30 feet is further than the middle of the field and were never
// gonna shoot from there because our robot isnt Steph Curry, and theres too many tiny variables
// to shoot from that far (mfw our auto aim doesnt account for general wear and tear of each note)
// also if air resistance arises to be a problem, we can raise the magic variable until it works
// which is the easy way but its not technically right. The correct way is to change a_x to
// some accurate number (do research) then change some velocity variables to work with it
// everything is in meters, radians, and seconds
// anything divided by 39.37 is inches converted to meters
// anything divided by 3.281 is feet converted to meters
double arm_length = 24.727914/39.37;
double shooter_length = 5.639686/39.37;
//y = -5.401353307, x = -5.60307862645667 is up against subwoofer
double a_y = -9.8; // gravity
double v_y = 0;
double p_y = -7/3.281; // vertical distance from target, this will change bc the arm will raise the further it gets away
double a_x = -0; // pretend this doesn't exist because I don't feel like doing air resistance
double v_x = 0;
double p_x = -11/3.281; // horizontal distance from target, this will change bc the robot moves
double shootingvelo_y = Math.sqrt(p_y * a_y * 2);
double shootingvelo_x = p_x/(shootingvelo_y/a_y);
double shootingvelo = Math.sqrt(Math.pow(shootingvelo_x, 2) + Math.pow(shootingvelo_y, 2))*2;
if(shootingvelo > 5700) {
shootingvelo = 5700;
}
double rpm = (30*shootingvelo)/(Math.PI*(2.0/39.37))/2;
double t4 = (Math.pow(a_x, 2) + Math.pow(a_y, 2))/4;
double t3 = (a_x*v_x + a_y*v_y);
double t2 = (Math.pow(v_x, 2) + p_x*a_x + Math.pow(v_y, 2) + p_y*a_y - Math.pow(shootingvelo, 2));
double t1 = 2*(p_x*v_x + p_y*v_y);
double t0 = (Math.pow(p_x, 2) + Math.pow(p_y, 2));
List<Double> roots = RootFinder.rootFinder(Arrays.asList(t4, t3, t2, t1, t0), 0.01);
for(double root: roots) {
root = Math.abs(root);
}
double t = -1;
for (int i = roots.size() - 1; i >= 0; i--) {
if (!(roots.get(i) > 0.0)) {
roots.set(i,0.0);
}
}
double minRoot = Double.MAX_VALUE;
for (double root : roots) {
if (root < minRoot && root > 0.0) {
minRoot = root;
}
}
if (minRoot == Double.MAX_VALUE) {
System.out.println("no solutions");
return;
}
t = minRoot;
// double maxRoot = Double.MIN_VALUE;
// System.out.println(roots);
// for (double root : roots) {
// if (root > maxRoot) {
// maxRoot = root;
// }
// }
// if (maxRoot == Double.MIN_VALUE) {
// System.out.println("no solutions");
// return;
// }
// t = maxRoot;
double p_aimX = -(p_x + v_x*t + (a_x*(Math.pow(t, 2)))/2.0);
double p_aimY = -(p_y + v_y*t + (a_y*(Math.pow(t, 2)))/2.0);
double shooting_theta = Math.atan(p_aimY / p_aimX);
double arm_theta = shooting_theta - (55*Math.PI/180.0);
// System.out.println(t);
double speakerHalfX = (0.489813*Math.cos(14*Math.PI/180))/2;
double speakerHalfY = (0.489813*Math.sin(14*Math.PI/180))/2;
try {
FileWriter desmos = new FileWriter("desmos_stuffs.txt");
desmos.write("(" + p_aimX + ", " + p_aimY + ")\n");
desmos.write("(" + -p_x + ", " + -p_y + ")\n");
desmos.write("f\\left(x\\right)=" + p_aimY / p_aimX + "x-" + "\\frac{" + (-a_y) + "x^{2}}{2\\cdot\\left(" + shootingvelo + "\\right)^{2}\\cdot\\cos^{2}\\left(" + shooting_theta + "\\right)}\\left\\{" + -p_x + ">x>0\\right\\}\n");
desmos.write("\\operatorname{polygon}((" + (-p_x-speakerHalfX) + "," + (-p_y+speakerHalfY) + "),(" + ((-p_x+speakerHalfX) + "," + (-p_y-speakerHalfY)) + "))\n");
desmos.write(p_aimY + " + \\left(\\frac{" + p_aimY + "}{" + p_aimX + "}\\right)\\left(x-" + p_aimX + "\\right)\\left\\{" + p_aimX + ">x>0\\right\\}\n");
desmos.write("a_{degrees}=" + (-arm_theta*(180.0/Math.PI)) + "\n");
desmos.write("\\operatorname{polygon}((0,0),(" + -shooter_length * Math.cos(shooting_theta) + "," + -shooter_length * Math.sin(shooting_theta) + "))\n");
desmos.write("\\operatorname{polygon}((" + -shooter_length * Math.cos(shooting_theta) + "," + -shooter_length * Math.sin(shooting_theta) + "),(" + (-shooter_length * Math.cos(shooting_theta) + arm_length * Math.cos(arm_theta)) + "," + (-shooter_length * Math.sin(shooting_theta) + arm_length * Math.sin(arm_theta)) + "))\n");
desmos.write("r_{pm}=" + rpm);
desmos.close();
// Desktop.getDesktop().browse(new URI("https://www.desmos.com/calculator"));
} catch (IOException e) {
System.out.println("An error occurred.");
e.printStackTrace();
}
}
}