From 6c3cb797ad76ae61f4bd7e33b080d4a44408d449 Mon Sep 17 00:00:00 2001
From: Will Hescott <wihe132@hps21.org>
Date: Sat, 25 Feb 2017 10:24:04 -0500
Subject: [PATCH] resolving merge conflicts

---
 tthhiinnggyy.py => camera.py | 19 +++++--------------
 components/drive.py          | 25 ++++++++++++++-----------
 2 files changed, 19 insertions(+), 25 deletions(-)
 rename tthhiinnggyy.py => camera.py (78%)

diff --git a/tthhiinnggyy.py b/camera.py
similarity index 78%
rename from tthhiinnggyy.py
rename to camera.py
index 71035ef..02d3eca 100644
--- a/tthhiinnggyy.py
+++ b/camera.py
@@ -1,4 +1,4 @@
-#Will your code should be at the bottom. Fill in the stuff in HooBoyShoot. Also I think the calls to AutonTankDrive are wrong.
+Camera#Will your code should be at the bottom. Fill in the stuff in HooBoyShoot. Also I think the calls to AutonTankDrive are wrong.
 
 import math
 import serial
@@ -19,12 +19,12 @@
 MUZZLE_VELOCITY = 30	#meters/second
 COMPLETELY_ARBITRARY_CONSTANT = 1
 
-class Tthhinnggyy:
+class Camera:
 	old_x = 0
 	mid_x = None
 	mid_y = None
 	theta = None
-	distance = None
+	distance = None #returnss in meters
 	ser = None
 	driveDelay = 0
 
@@ -77,15 +77,6 @@ def uncode(self, string):
 					number += char
 		return stuff
 
-
-	def centerLine(self):
-		if(abs(self.distance - REF_DIST) > DDZ_MOV):	#meters, arbitrary deadzone value
-			spd = math.copysign(0.1, self.distance - REF_DIST)#max(MIN_MOV_SPD, abs(distance))*math.copysign(1.0, distance)
-			self.autonTankDrive(spd,spd)
-			return False
-		return True
-
-
 #max(MIN_ROT_SPD, min(MAX_ROT_SPD, abs(self.theta - REF_THETA)))
 '''	def ShootDistance(self):	#I *guarantee* this does *not* work
 		angle = math.arcsin(((REF_TOW_H - REF_CAM_H)/self.distance+4.9*self.distance)/MUZZLE_VELOCITY)
@@ -96,7 +87,7 @@ def centerLine(self):
 		#it can be changed, but it's not important anyway
 '''
 '''
-thng.receive()
-if thng.centerSide() and thng.centerLine() :	#this works because of short-circuiting
+cam.receive()
+if cam.centerSide() and cam.centerLine() :	#this works because of short-circuiting
 	HooBoyShoot()
 '''
diff --git a/components/drive.py b/components/drive.py
index de47fb0..2b6359b 100644
--- a/components/drive.py
+++ b/components/drive.py
@@ -11,8 +11,8 @@
 from ctre.cantalon import CANTalon
 from wpilib.interfaces import Gyro
 from . import Component
-import tthhiinnggyy
-from tthhiinnggyy import Tthhinnggyy
+import camera
+from camera import Camera
 import math
 
 
@@ -53,7 +53,7 @@ def __init__(self, robot):
 		self.rbmotor.setPosition(0)
 		self.lbmotor.setPosition(0)
 		self.myInertia = 0
-		self.thng = Tthhinnggyy()
+		self.cam = Camera()
 
 	def drive_forward(self, speed) :
 		self.drive.tankDrive(speed, speed, True)
@@ -99,20 +99,20 @@ def turnAngle(self, degrees, speed=0.2):
 		return False
 
 	def visionLineUp(self):
-		self.thng.receive()
-		if self.thng.centerSide():#and self.thng.centerLine() :	#this works because of short-circuiting
+		self.cam.receive()
+		if self.cam.centerSide():#and self.cam.centerLine() :	#this works because of short-circuiting
 			print("hooboyshoot")
 			self.reset()
 			#oh what fun it is to ride
 
 	def findGoal(self):
 		x = 25
-		self.thng.receive()
+		self.cam.receive()
 		if x < 25:
 			x += 1
 			self.autonTankDrive(0,0)
 			return False
-		if self.centerSide():#and self.thng.centerLine() :	#this works because of short-circuiting #in a one-horse open sleigh
+		if self.centerSide():#and self.cam.centerLine() :	#this works because of short-circuiting #in a one-horse open sleigh
 			self.reset()
 			x = 0
 			return True
@@ -156,14 +156,14 @@ def convertEncoderRaw(self, selectedEncoderValue):
 		return selectedEncoderValue * self.INCHES_PER_REV
 
 	def centerSide(self):
-		if(self.thng.mid_x == None):
+		if(self.cam.mid_x == None):
 			self.autonTankDrive(0, 0)
 
 			if(self.myInertia > 0):
 				self.myInertia -= 1
 			return False
-		elif(abs(self.thng.mid_x) > tthhiinnggyy.DDZ_ROT):	#radians, arbitrary deadzone value
-			if(abs(self.thng.mid_x) > 0.15):
+		elif(abs(self.cam.mid_x) > camera.DDZ_ROT):	#radians, arbitrary deadzone value
+			if(abs(self.cam.mid_x) > 0.15):
 				spdMag = 0.15
 			else:
 				spdMag = 0.09
@@ -173,10 +173,13 @@ def centerSide(self):
 				self.myInertia = 0
 			if(self.myInertia <= 5):
 				self.myInertia += 1
-			spd = math.copysign(spdMag, self.thng.mid_x)#min(max(MIN_ROT_SPD, abs(self.mid_x)), MAX_ROT_SPD), self.mid_x)	#again arbitrary numbers
+			spd = math.copysign(spdMag, self.cam.mid_x)#min(max(MIN_ROT_SPD, abs(self.mid_x)), MAX_ROT_SPD), self.mid_x)	#again arbitrary numbers
 			self.autonTankDrive(spd, -spd)
 			return False
 		self.autonTankDrive(0, 0)
 		if(self.myInertia > 0):
 			self.myInertia -= 1
 		return True
+
+		def convert(self, x):#converting meters to inches
+			return x*39.37