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limelight

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This commit is contained in:
Antoine PerreaultE
2025-02-17 18:33:49 -05:00
parent be9f3856f7
commit d692bab745
13 changed files with 322 additions and 52 deletions
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33
src/main/java/frc/robot/commands/AprilTag3.java
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@ -5,6 +5,8 @@
package frc.robot.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;
@ -18,16 +20,19 @@ 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
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.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,CommandSwerveDrivetrain drivetrain) {
public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
this.limelight3 = limelight3;
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3,drivetrain);
// Use addRequirements() here to declare subsystem dependencies.
@ -42,24 +47,30 @@ public class AprilTag3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double a = limelight3.getX();
if(limelight3.getV() == true){
drivetrain.applyRequest(() ->
drive.withRotationalRate(limelight3.getX()/48));
System.out.println(limelight3.getX()/48);
drivetrain.setControl(drive.
withRotationalRate(a/10).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/10);
}
else{
drivetrain.applyRequest(() ->
drive.withRotationalRate(0)
);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drivetrain.applyRequest(() ->
drive.withRotationalRate(0));
drivetrain.setControl(drive.
withRotationalRate(0)
.withVelocityX(0)
.withVelocityY(0));
}
// Returns true when the command should end.

35
src/main/java/frc/robot/commands/AprilTag3G.java
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@ -4,29 +4,37 @@
package frc.robot.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
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.Limelight3G;
/* 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 AprilTag3G extends Command {
private Limelight3G limelight3g;
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
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.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. */
/** Creates a new AprilTag3G. */
public AprilTag3G(Limelight3G limelight3g) {
public AprilTag3G(Limelight3G limelight3g,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
this.limelight3g = limelight3g;
addRequirements(limelight3g);
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3g,drivetrain);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -37,18 +45,29 @@ public class AprilTag3G extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double a = limelight3g.getX();
if(limelight3g.getV() == true){
drive.withRotationalRate(limelight3g.getX()/48);
drivetrain.setControl(drive.
withRotationalRate(-a/5).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/5);
}
else{
drive.withRotationalRate(0);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drive.withRotationalRate(0);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
// Returns true when the command should end.

35
src/main/java/frc/robot/commands/Forme3.java
View File

@ -4,28 +4,36 @@
package frc.robot.commands;
import static edu.wpi.first.units.Units.*;
import java.util.function.DoubleSupplier;
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 Forme3 extends Command {
private Limelight3 limelight3;
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
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private DoubleSupplier x;
private DoubleSupplier y;
/* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.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 Forme3. */
public Forme3(Limelight3 limelight3) {
public Forme3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
this.limelight3 = limelight3;
addRequirements(limelight3);
this.drivetrain = drivetrain;
this.x = x;
this.y = y;
addRequirements(limelight3,drivetrain);
// Use addRequirements() here to declare subsystem dependencies.
}
@ -38,18 +46,29 @@ public class Forme3 extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double a = limelight3.getX();
if(limelight3.getV() == true){
drive.withRotationalRate(limelight3.getX()/48);
drivetrain.setControl(drive.
withRotationalRate(a/10).
withVelocityX(x.getAsDouble()).
withVelocityY(y.getAsDouble()));
System.out.println(a/10);
}
else{
drive.withRotationalRate(0);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drive.withRotationalRate(0);
drivetrain.setControl(drive.
withRotationalRate(0).
withVelocityX(0).
withVelocityY(0));
}
// Returns true when the command should end.