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;
    }
}

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;
    }
}

--- 
+++ 
@@ -3,6 +3,11 @@
 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();
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.
