commit 5e09c07d11013b4302ae68f7507b62c1da1ca14e
author Ravago Jones <ravagojones@gmail.com> Sat Mar 27 13:21:03 2021 -0700
committer Ravago Jones <ravagojones@gmail.com> Sat Mar 27 14:49:17 2021 -0700
tree d5c0dffb6439b95705a85c15e9b8f11052355a82
parent 8d39df03d443cbe25c620db1222f3517d14f67fa

Spline UI: Make the robot the right size

Change-Id: I06b380c7408b99c93f9eb0df887077dab6d9cd29

frc971/control_loops/python/path_edit.py

diff --git a/frc971/control_loops/python/path_edit.py b/frc971/control_loops/python/path_edit.py
index 2031416..3ecef40 100755
--- a/frc971/control_loops/python/path_edit.py
+++ b/frc971/control_loops/python/path_edit.py
@@ -118,8 +118,8 @@
         distance = np.sqrt((p2[1] - p1[1])**2 + (p2[0] - p1[0])**2)
         x_difference_o = p2[0] - p1[0]
         y_difference_o = p2[1] - p1[1]
-        x_difference = x_difference_o * mToPx(LENGTH_OF_ROBOT / 2) / distance
-        y_difference = y_difference_o * mToPx(LENGTH_OF_ROBOT / 2) / distance
+        x_difference = x_difference_o * mToPx(FIELD.robot.length / 2) / distance
+        y_difference = y_difference_o * mToPx(FIELD.robot.length / 2) / distance
 
         front_middle = []
         front_middle.append(p1[0] + x_difference)
@@ -132,8 +132,8 @@
         slope = [-(1 / x_difference_o) / (1 / y_difference_o)]
         angle = np.arctan(slope)
 
-        x_difference = np.sin(angle[0]) * mToPx(WIDTH_OF_ROBOT / 2)
-        y_difference = np.cos(angle[0]) * mToPx(WIDTH_OF_ROBOT / 2)
+        x_difference = np.sin(angle[0]) * mToPx(FIELD.robot.width / 2)
+        y_difference = np.cos(angle[0]) * mToPx(FIELD.robot.width / 2)
 
         front_1 = []
         front_1.append(front_middle[0] - x_difference)
@@ -152,9 +152,9 @@
         back_2.append(back_middle[1] + y_difference)
 
         x_difference = x_difference_o * mToPx(
-            LENGTH_OF_ROBOT / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
+            FIELD.robot.length / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
         y_difference = y_difference_o * mToPx(
-            LENGTH_OF_ROBOT / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
+            FIELD.robot.length / 2 + ROBOT_SIDE_TO_BALL_CENTER) / distance
 
         #Calculate Ball
         ball_center = []
@@ -162,9 +162,9 @@
         ball_center.append(p1[1] + y_difference)
 
         x_difference = x_difference_o * mToPx(
-            LENGTH_OF_ROBOT / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
+            FIELD.robot.length / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
         y_difference = y_difference_o * mToPx(
-            LENGTH_OF_ROBOT / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
+            FIELD.robot.length / 2 + ROBOT_SIDE_TO_HATCH_PANEL) / distance
 
         #Calculate Panel
         panel_center = []