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s'enligne vers le apriltag

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This commit is contained in:
Antoine PerreaultE
2025-11-24 17:35:46 -05:00
parent 2b6839b686
commit 6f32b4424d
2 changed files with 22 additions and 10 deletions
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23
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -10,10 +10,11 @@ import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.SynchronousInterrupt.WaitResult;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -51,7 +52,7 @@ public class AprilTag3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double[] BotPose = new double[7];
double[] BotPose = new double[6];
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
if(alliance.get() == DriverStation.Alliance.Red){
BotPose = limelight3.getBotPoseRed();
@@ -60,18 +61,24 @@ public class AprilTag3 extends Command {
BotPose = limelight3.getBotPoseBlue();
}
double botx = BotPose[0];
double botz = BotPose[2];
double boty = BotPose[1];
double tx = limelight3.getTx();
double tagId = BotPose[7];
double tagId = limelight3.getTId();
if(limelight3.getV() == true){
if(tagId ==8){
if(tagId ==10){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(2-botx).
withVelocityY(2-botz));
withVelocityX((botx-5.81)*2).
withVelocityY((boty-4)*4));
}
else if(tagId ==7){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(-(botx-2.21)*2).
withVelocityY(-(boty-4)*4));
}
}
else{
else{
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).