package com.edinarobotics.zed.commands;

public class FixedPointVisionTrackingCommand extends VisionTrackingCommand {
    private double fixedXSetpoint;
    private double fixedYSetpoint;
    
    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;
    }
    
    protected double getXSetpoint(double distance) {
        return fixedXSetpoint;
    }
    
    protected double getYSetpoint(double distance) {
        return fixedYSetpoint;
    }
}

package com.edinarobotics.zed.commands;

public class FixedPointVisionTrackingCommand extends VisionTrackingCommand {
    private double fixedXSetpoint;
    private double fixedYSetpoint;
    
    public static final double PYRAMID_BACK_MIDDLE_X = 0.0273556;
    public static final double PYRAMID_BACK_MIDDLE_Y = -0.29411;
    public static final double PYRAMID_BACK_RIGHT_X = -0.063829;
    public static final double PYRAMID_BACK_RIGHT_Y = -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;
    }
    
    protected double getXSetpoint(double distance) {
        return fixedXSetpoint;
    }
    
    protected double getYSetpoint(double distance) {
        return fixedYSetpoint;
    }
}

Add fixed vision tracking point constants to the fixed point command.
Add fixed vision tracking point constants to the fixed point command.

These constants make it possible to centralize the coordinates used
for fixed point vision tracking.
