80 lines
2.9 KiB
Java
80 lines
2.9 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands;
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import static edu.wpi.first.units.Units.*;
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import java.util.function.DoubleSupplier;
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import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
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import com.ctre.phoenix6.swerve.SwerveRequest;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.TunerConstants.TunerConstants;
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import frc.robot.subsystems.CommandSwerveDrivetrain;
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import frc.robot.subsystems.Limelight3;
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/* 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 */
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public class Forme3 extends Command {
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private Limelight3 limelight3;
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private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
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private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
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private CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
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private DoubleSupplier x;
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private DoubleSupplier y;
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/* Setting up bindings for necessary control of the swerve drive platform */
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private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
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.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
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.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
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/** Creates a new Forme3. */
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public Forme3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) {
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this.limelight3 = limelight3;
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this.drivetrain = drivetrain;
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this.x = x;
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this.y = y;
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addRequirements(limelight3,drivetrain);
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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limelight3.Forme();
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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double a = limelight3.getX();
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if(limelight3.getV() == true){
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drivetrain.setControl(drive.
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withRotationalRate(a/10).
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withVelocityX(x.getAsDouble()).
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withVelocityY(y.getAsDouble()));
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System.out.println(a/10);
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}
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else{
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drivetrain.setControl(drive.
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withRotationalRate(0).
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withVelocityX(0).
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withVelocityY(0));
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}
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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drivetrain.setControl(drive.
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withRotationalRate(0).
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withVelocityX(0).
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withVelocityY(0));
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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