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limelight marche pas

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This commit is contained in:
Antoine PerreaultE 2025-02-15 12:38:56 -05:00
parent b1e32bd6df
commit be9f3856f7
2 changed files with 28 additions and 15 deletions
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21
src/main/java/frc/robot/RobotContainer.java
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@ -25,10 +25,15 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G;
import frc.robot.commands.Forme3;
import frc.robot.commands.RainBow;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G;
public class RobotContainer {
@ -43,14 +48,14 @@ public class RobotContainer {
private final Telemetry logger = new Telemetry(MaxSpeed);
private final CommandXboxController manette1 = new CommandXboxController(0);
private final CommandXboxController manette2 = new CommandXboxController(0);
private final CommandXboxController manette2 = new CommandXboxController(1);
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private final SendableChooser<Command> autoChooser;
Bougie bougie = new Bougie();
Limelight3G limelight3g = new Limelight3G();
Limelight3 limelight3 = new Limelight3();
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
@ -63,16 +68,18 @@ public class RobotContainer {
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY(), 0.5)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX(), 0.5)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.5)) // Drive counterclockwise with negative X (left)
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.15)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.15)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
)
);
// reset the field-centric heading on left bumper press
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain));
manette1.rightTrigger().whileTrue(new Forme3(limelight3));
manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g));
drivetrain.registerTelemetry(logger::telemeterize);
}

20
src/main/java/frc/robot/commands/AprilTag3.java
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@ -8,15 +8,15 @@ import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Limelight3;
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class AprilTag3 extends Command {
private Limelight3 limelight3;
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
@ -25,9 +25,10 @@ public class AprilTag3 extends Command {
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
/** Creates a new AprilTag3G. */
public AprilTag3(Limelight3 limelight3) {
public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain) {
this.limelight3 = limelight3;
addRequirements(limelight3);
this.drivetrain = drivetrain;
addRequirements(limelight3,drivetrain);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -43,17 +44,22 @@ public class AprilTag3 extends Command {
public void execute() {
if(limelight3.getV() == true){
drive.withRotationalRate(limelight3.getX()/48);
drivetrain.applyRequest(() ->
drive.withRotationalRate(limelight3.getX()/48));
System.out.println(limelight3.getX()/48);
}
else{
drive.withRotationalRate(0);
drivetrain.applyRequest(() ->
drive.withRotationalRate(0)
);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drive.withRotationalRate(0);
drivetrain.applyRequest(() ->
drive.withRotationalRate(0));
}
// Returns true when the command should end.