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CurtinFRC · Mar 3, 2024 · cedd611 · cedd611
1 parent cb1b958
commit cedd611
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Showing 2 changed files with 12 additions and 35 deletions.
diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -19,7 +19,6 @@
 
 #include "RobotMap.h"
 #include "behaviour/HasBehaviour.h"
-#include "networktables/NetworkTableInstance.h"
 
 static units::second_t lastPeriodic;
 
@@ -175,28 +174,5 @@ void Robot::DisabledPeriodic() {}
 void Robot::TestInit() {}
 void Robot::TestPeriodic() {}
 
-void Robot::SimulationInit() {
-  /*  std::string x = "[";
-    std::string y = "[";
-    // _vision->GetDistanceToTarget(16);
-    for (int i = 1; i < 17; i++) {
-      for (int j = 0; j < 17; j++) {
-        frc::Pose2d pose = _vision->AlignToTarget(i, units::meter_t{j * 0.1}, _swerveDrive);
-        x += std::to_string(pose.X().value()) + ",";
-        y += std::to_string(pose.Y().value()) + ",";
-      }
-    }
-
-    x += "]";
-    y += "]";
-
-    std::cout << x << std::endl;
-    std::cout << y << std::endl; */
-  // std::cout << _vision->TurnToTarget(1, _swerveDrive).Rotation().Degrees().value() << std::endl;
-  // Reimplement when vision is reimplemented
-  // frc::Pose2d pose = _vision->TurnToTarget(2, _swerveDrive);
-  // nt::NetworkTableInstance::GetDefault().GetTable("vision")->PutNumber("rot",
-  //                                                                     pose.Rotation().Degrees().value());
-}
-
+void Robot::SimulationInit() {}
 void Robot::SimulationPeriodic() {}
diff --git a/src/main/cpp/ShooterBehaviour.cpp b/src/main/cpp/ShooterBehaviour.cpp
@@ -3,6 +3,7 @@
 // of the MIT License at the root of this project
 
 #include "ShooterBehaviour.h"
+#include <stdexcept>
 
 #include "Shooter.h"
 #include "utils/Util.h"
@@ -70,10 +71,10 @@ units::meter_t VisionShooterSpeed::DistanceFromTarget() {
   auto tag = m_vision->GetID();
   switch (tag) {
     case 1:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 2:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 3:
       return wom::utils::Pythagoras(distance, magicvalue);
@@ -94,28 +95,28 @@ units::meter_t VisionShooterSpeed::DistanceFromTarget() {
       return wom::utils::Pythagoras(distance, magicvalue);
       break;
     case 9:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 10:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 11:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 12:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 13:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 14:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 15:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
     case 16:
-      return wom::utils::Pythagoras(distance, magicvalue);
+      throw new std::runtime_error("UNSUPPORTED TAG");
       break;
   }
 }