package com.edinarobotics.zed.commands;

import com.edinarobotics.utils.math.Point2;

public class FixedPointVisionTrackingCommand extends VisionTrackingCommand {
    private double fixedXSetpoint;
    private double fixedYSetpoint;
    
    public static final Point2 PYRAMID_BACK_MIDDLE = new Point2(-0.018, -0.25);
    public static final Point2 PYRAMID_BACK_RIGHT = new Point2(-0.063829, -0.226891);
    
    public FixedPointVisionTrackingCommand(double xSetpoint, double ySetpoint) {
        super();
        this.fixedXSetpoint = xSetpoint;
        this.fixedYSetpoint = ySetpoint;
    }
    
    public FixedPointVisionTrackingCommand(double xSetpoint, double ySetpoint, byte goalType) {
        super(goalType);
        this.fixedXSetpoint = xSetpoint;
        this.fixedYSetpoint = ySetpoint;
    }
    
    public FixedPointVisionTrackingCommand(Point2 point2) {
        this(point2.getX(), point2.getY());
    }
    
    protected double getXSetpoint(double distance) {
        return fixedXSetpoint;
    }
    
    protected double getYSetpoint(double distance) {
        return fixedYSetpoint;
    }
}

package com.edinarobotics.zed.commands;

import com.edinarobotics.utils.math.Point2;

public class FixedPointVisionTrackingCommand extends VisionTrackingCommand {
    private double fixedXSetpoint;
    private double fixedYSetpoint;
    
    public static final Point2 PYRAMID_BACK_MIDDLE_NEW = new Point2(-0.018, -0.25);
    public static final Point2 PYRAMID_BACK_RIGHT = new Point2(-0.063829, -0.226891);
    public static final Point2 PYRAMID_BACK_MIDDLE = new Point2(0.0273556, -0.29411);
    public static final Point2 PYRAMID_BACK_MIDDLE_NEW2 = new Point2(-0.143, -0.241);
    
    public FixedPointVisionTrackingCommand(double xSetpoint, double ySetpoint) {
        super();
        this.fixedXSetpoint = xSetpoint;
        this.fixedYSetpoint = ySetpoint;
    }
    
    public FixedPointVisionTrackingCommand(double xSetpoint, double ySetpoint, byte goalType) {
        super(goalType);
        this.fixedXSetpoint = xSetpoint;
        this.fixedYSetpoint = ySetpoint;
    }
    
    public FixedPointVisionTrackingCommand(Point2 point2) {
        this(point2.getX(), point2.getY());
    }
    
    public FixedPointVisionTrackingCommand(Point2 point2, byte goalType) {
        this(point2.getX(), point2.getY(), goalType);
    }
    
    protected double getXSetpoint(double distance) {
        return fixedXSetpoint;
    }
    
    protected double getYSetpoint(double distance) {
        return fixedYSetpoint;
    }
}

Add extra fixed-point value from practice field testing.
Add extra fixed-point value from practice field testing.
