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;
    }
}

@@ -182,24 +182,290 @@
 point;%0A    %0A
+    public static final double PYRAMID_BACK_MIDDLE_X = 0.0273556;%0A    public static final double PYRAMID_BACK_MIDDLE_Y = -0.29411;%0A    public static final double PYRAMID_BACK_RIGHT_X = -0.063829;%0A    public static final double PYRAMID_BACK_RIGHT_Y = -0.226891;%0A    %0A
     public F

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