Create LimelightMath.java

Slipgate/src/org/usfirst/frc/team263/robot/LimelightMath

@@ -0,0 +1,51 @@
+import javax.swing.JOptionPane;
+import java.lang.Math;
+public class LimelightMath 
+{
+	public static void main(String[] args)
+	{	
+		String X = JOptionPane.showInputDialog("Enter the robot's distance from cube (in).");
+	    double x = Double.parseDouble(X);
+	    String Y = JOptionPane.showInputDialog("Enter the fixed height of the Limelight.");
+	    double y = Double.parseDouble(Y);
+	    String V = JOptionPane.showInputDialog("Enter the velocity of the robot (in/s)."); // v = dx
+	    double v = Double.parseDouble(V);
+	    double h = calcLimelightDistance(x, y);
+	    double dh = changeInLimelightDistance(x,y,v);
+	    double o1 = Math.toDegrees(angleOfElevation(x,y));
+	    double o2 = Math.toDegrees(angleOther(x,y));
+	    double do1 = Math.toDegrees(-1 * changeInAngle(x,y));
+	    double do2 = Math.toDegrees(changeInAngle(x,y));
+	    if (v == 0)
+	    {
+	    		do1 = 0;
+	    		do2 = 0;
+	    }
+	    System.out.println("Distance = " + h + " in");
+	    System.out.println("Change in Diagonal Distance = " + dh + " in/s");
+	    System.out.println("Angle of Elevation = " + o1 + " degrees");
+	    System.out.println("Other Angle = " + o2 + " degrees");
+	    System.out.println("Change in Angle of Elevation = " + do1 + " degrees/s");
+	    System.out.println("Change in Other Angle = " + do2 + " degrees/s");
+	}
+	public static double calcLimelightDistance(double a, double b)
+	{
+		return Math.hypot(a, b);
+	}
+	public static double changeInLimelightDistance(double a, double b, double c)
+	{
+		return (a * c) / Math.hypot(a, b);
+	}
+	public static double angleOfElevation(double a, double b)
+	{
+		return Math.acos(a / (Math.hypot(a, b)));
+	}
+	public static double angleOther(double a, double b)
+	{
+		return Math.asin(a / (Math.hypot(a, b)));
+	}
+	public static double changeInAngle(double a, double b)
+	{
+		return 1 / (b * (1 + Math.pow(a, 2) / Math.pow(b, 2)));
+	}
+}