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limelightTest

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This commit is contained in:
Samuel
2025-11-17 18:01:18 -05:00
parent 04718b8400
commit 77ce877923
2 changed files with 28 additions and 31 deletions
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47
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -5,12 +5,15 @@
package frc.robot.commands.Limelight;
import static edu.wpi.first.units.Units.*;
import java.util.Optional;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -48,38 +51,26 @@ public class AprilTag3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double[] targetPose = limelight3.getTargetPose();
double[] BotPose = limelight3.getBotPose();
double z = targetPose[2];
double x = targetPose[0];
double Botyaw = BotPose[5];
double[] BotPose = new double[7];
Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
if(alliance.get() == DriverStation.Alliance.Red){
BotPose = limelight3.getBotPoseRed();
}
else{
BotPose = limelight3.getBotPoseBlue();
}
double botx = BotPose[0];
double botz = BotPose[2];
double tx = limelight3.getTx();
double tagId = BotPose[7];
if(limelight3.getV() == true){
if(Botyaw > 0 && Botyaw <=90){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(x/4, -1, 1)).
withVelocityY(MathUtil.clamp(z/4, -1, 1)));
}
else if(Botyaw >90 && Botyaw <=180){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
withVelocityY(MathUtil.clamp(z/4, -1, 1)));
}
else if(Botyaw >-90 && Botyaw <=0){
if(tagId ==8){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
withVelocityY(MathUtil.clamp(-z/4, -1, 1)));
}
else if(Botyaw >-180 && Botyaw <=-90){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(x/4, -1, 1)).
withVelocityY(MathUtil.clamp(-z/4, -1, 1)));
}
}
withVelocityX(2-botx).
withVelocityY(2-botz));
}
}
else{
drivetrain.setControl(drive.
withRotationalRate(0).

12
src/main/java/frc/robot/subsystems/Limelight3.java
View File

@@ -26,10 +26,16 @@ public class Limelight3 extends SubsystemBase {
double[] targetPose = targetPoseEntry.getDoubleArray(new double[6]);
return targetPose;
}
public double[] getBotPose(){
public double[] getBotPoseBlue(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_cameraspace");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[6]);
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[8]);
return BotPose;
}
public double[] getBotPoseRed(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[8]);
return BotPose;
}
public double getTx(){