drive to a note

src/main/java/org/carlmontrobotics/Constants.java

@@ -373,7 +373,9 @@ public static final class Limelightc {
 		public static final class Apriltag {
 			public static final int RED_SPEAKER_CENTER_TAG_ID = 4;
 			public static final int BLUE_SPEAKER_CENTER_TAG_ID = 7;
-			public static final double SPEAKER_CENTER_HEIGHT_METERS = Units.inchesToMeters(56.7); // 88.125
+			public static final double SPEAKER_CENTER_HEIGHT_METERS = Units.inchesToMeters(56.7); //88.125
+			public static final double HEIGHT_FROM_BOTTOM_TO_SUBWOOFER = Units.inchesToMeters(26);
+			public static final double HEIGHT_FROM_BOTTOM_TO_ARM_RESTING = Units.inchesToMeters(21.875);
 		}
 	}
 

src/main/java/org/carlmontrobotics/commands/AutoMATICALLYGetNote.java

@@ -5,6 +5,9 @@
 package org.carlmontrobotics.commands;
 
 import static org.carlmontrobotics.Constants.Limelightc.*;
+
+import org.carlmontrobotics.Constants.Limelightc;
+
 import static org.carlmontrobotics.Constants.Effectorc.*;
 
 import org.carlmontrobotics.subsystems.Drivetrain;
@@ -47,8 +50,8 @@ public void initialize() {
 
   @Override
   public void execute() {
-    double angleErrRad = Units.degreesToRadians(LimelightHelpers.getTX(INTAKE_LL_NAME));
-    double forwardDistErrMeters = ll.getDistanceToNoteMeters();
+    double angleErrRad = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME));
+    double forwardDistErrMeters = ll.getDistanceToNoteMeters(); 
     double strafeDistErrMeters = forwardDistErrMeters * Math.tan(angleErrRad);
     // dt.drive(0,0,0);
     dt.drive(Math.max(forwardDistErrMeters * 2, MIN_MOVEMENT_METERSPSEC),

src/main/java/org/carlmontrobotics/commands/MoveToNote.java

@@ -0,0 +1,59 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.carlmontrobotics.commands;
+
+import org.carlmontrobotics.Constants.Limelightc;
+import org.carlmontrobotics.subsystems.Drivetrain;
+import org.carlmontrobotics.subsystems.Limelight;
+import org.carlmontrobotics.subsystems.LimelightHelpers;
+
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class MoveToNote extends Command {
+  private final Drivetrain dt;
+  private final Limelight ll;
+  private Timer timer = new Timer();
+  private boolean originalFieldOrientation;
+  /** Creates a new MoveToNote. */
+  public MoveToNote(Drivetrain dt, Limelight ll) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(this.dt=dt);
+    this.ll = ll;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    originalFieldOrientation = dt.getFieldOriented();
+    timer.reset();
+    timer.start();
+    dt.setFieldOriented(false);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double radErr = Units.degreesToRadians(LimelightHelpers.getTX(Limelightc.INTAKE_LL_NAME));
+    double distErr = ll.getDistanceToNoteMeters(); //meters
+    double forwardErr = distErr * Math.cos(radErr);
+    dt.drive(Math.max(forwardErr*2, .5), 0, 0);
+    //180deg is about 6.2 rad/sec, min is .5rad/sec
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    dt.setFieldOriented(originalFieldOrientation);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return timer.get() >= 0.5;
+  }
+}