Borusan
Robotics

public double getDistance(){
    double distance = (targetHeight-cameraHeight) / Math.tan(Math.toRadians(pitch + cameraAngle));
    return distance;
}

new PIDController(ShooterConstants.kShootP, ShooterConstants.kShootI, ShooterConstants.kShootD),
shooter::getRPM,
targetRPM,
output -> {
  m_motorOutput = output + m_shooterFeedForward.calculate(targetRPM);
  shooter.runShooterVoltage(-m_motorOutput);
});
getController().setTolerance(50);