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;
    }
}

@@ -281,16 +281,20 @@
 K_MIDDLE
+_NEW
  = new P
@@ -401,16 +401,188 @@
 26891);%0A
+    public static final Point2 PYRAMID_BACK_MIDDLE = new Point2(0.0273556, -0.29411);%0A    public static final Point2 PYRAMID_BACK_MIDDLE_NEW2 = new Point2(-0.143, -0.241);%0A
     %0A   
@@ -1090,32 +1090,172 @@
 ());%0A    %7D%0A    %0A
+    public FixedPointVisionTrackingCommand(Point2 point2, byte goalType) %7B%0A        this(point2.getX(), point2.getY(), goalType);%0A    %7D%0A    %0A
     protected do

Add extra fixed-point value from practice field testing.