limelight pls marche

src/main/java/frc/robot/commands/Limelighter.java

@@ -53,46 +53,63 @@ public class Limelighter extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
-        BotPose = limelight3g.getBotPoseBlue();
+        // BotPose = limelight3g.getBotPoseBlue();
        if (!alliance.isPresent()) {
         return;
       }
       if (alliance.get() == Alliance.Blue) {
         x = 4.6;
+        BotPose = limelight3g.getBotPoseBlue();
       }
        else {
         x = 11.915394;
+       BotPose = limelight3g.getBotPoseRed();
       }
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
       calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      if(calcul < -5 && calcul > -180){
+      if(angle > 180){
+        angle -= 360;
+      }
+      if(calcul > -5 && calcul < 5){
+         drivetrain.setControl(
+           drive.withRotationalRate(0));
+      }
+      else if(calcul > 5){
         drivetrain.setControl(
-          drive.withRotationalRate(0.5*(2*Math.PI)));
+           drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
-      else if(calcul > 5 && calcul < 180){
+      else if(calcul < -5){
         drivetrain.setControl(
-          drive.withRotationalRate(-0.5*(2*Math.PI)));
+           drive.withRotationalRate(-0.5*(2*Math.PI)));
-      }
-      else if(calcul >= 180){
-        drivetrain.setControl(
-          drive.withRotationalRate(-0.5*(2*Math.PI)));
-      }
-      else if(calcul <= -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*(2*Math.PI)));
-      }
-      else{
-        drivetrain.setControl(
-          drive.withRotationalRate(0));
-      }  
-      drivetrain.setControl(
-          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
-      System.out.println(angle);
-      if (calcul < 0.2 && calcul > -0.2) {
-      drivetrain.setControl(drive.withRotationalRate(0));
       }
+      // if(calcul < -5 && calcul > -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else if(calcul > 5 && calcul < 180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul >= 180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul <= -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else{
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0));
+      // }  
+      // drivetrain.setControl(
+      //     drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+      // System.out.println(angle);
+      // if (calcul < 0.2 && calcul > -0.2) {
+      // drivetrain.setControl(drive.withRotationalRate(0));
+      // }
     }
     else{
       drivetrain.setControl(drive.withRotationalRate(0));

src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java

@@ -53,46 +53,63 @@ public class LimelighterAuto extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
-      if (!alliance.isPresent()) {
+        // BotPose = limelight3g.getBotPoseBlue();
+       if (!alliance.isPresent()) {
         return;
       }
       if (alliance.get() == Alliance.Blue) {
         x = 4.6;
+        BotPose = limelight3g.getBotPoseBlue();
       }
        else {
         x = 11.915394;
+       BotPose = limelight3g.getBotPoseRed();
       }
-        BotPose = limelight3g.getBotPoseBlue();
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
       calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
-      if(calcul < -5 && calcul > -180){
+      if(angle > 180){
+        angle -= 360;
+      }
+      if(calcul > -5 && calcul < 5){
+         drivetrain.setControl(
+           drive.withRotationalRate(0));
+      }
+      else if(calcul > 5){
         drivetrain.setControl(
-          drive.withRotationalRate(0.5*(2*Math.PI)));
+           drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
-      else if(calcul > 5 && calcul < 180){
+      else if(calcul < -5){
         drivetrain.setControl(
-          drive.withRotationalRate(-0.5*(2*Math.PI)));
+           drive.withRotationalRate(-0.5*(2*Math.PI)));
-      }
-      else if(calcul >= 180){
-        drivetrain.setControl(
-          drive.withRotationalRate(-0.5*(2*Math.PI)));
-      }
-      else if(calcul <= -180){
-        drivetrain.setControl(
-          drive.withRotationalRate(0.5*(2*Math.PI)));
-      }
-      else{
-        drivetrain.setControl(
-          drive.withRotationalRate(0));
-      }  
-      drivetrain.setControl(
-          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
-      System.out.println(angle);
-      if (calcul < 0.2 && calcul > -0.2) {
-      drivetrain.setControl(drive.withRotationalRate(0));
       }
+      // if(calcul < -5 && calcul > -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else if(calcul > 5 && calcul < 180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul >= 180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(-0.5*(2*Math.PI)));
+      // }
+      // else if(calcul <= -180){
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0.5*(2*Math.PI)));
+      // }
+      // else{
+      //   drivetrain.setControl(
+      //     drive.withRotationalRate(0));
+      // }  
+      // drivetrain.setControl(
+      //     drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+      // System.out.println(angle);
+      // if (calcul < 0.2 && calcul > -0.2) {
+      // drivetrain.setControl(drive.withRotationalRate(0));
+      // }
     }
     else{
       drivetrain.setControl(drive.withRotationalRate(0));
@@ -109,7 +126,6 @@ public class LimelighterAuto extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return calcul < 5 && calcul > -5;
+    return calcul > -5 && calcul < 5;
   }
 }
-

src/main/java/frc/robot/subsystems/Limelight3G.java

@@ -52,22 +52,28 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
     }
     public double Calcule(double x1, double x2, double y1, double y2, double angle)
     {
-      if(x1 > x2){
+      // if(x1 > x2){
-        if(y1 > y2){
+      //   if(y1 > y2){
-          return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI) - angle;
+      //   }
+      //   else{
+      //     return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+90 - angle;
+      //   }
+      // }
+      // else{
+      //   if(y1 > y2){
+      //     return Math.atan((x2 - x1) / (y2 - y1))* (180 / Math.PI)+270 - angle;
+      //   }
+      //   else{
+      //     return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI)+180 - angle;
+      //   }
+      // }
+      if(y1 > y2){
+          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
         }
         else{
-          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+90 - angle;
+          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)-360 - angle;
         }
-      }
-      else{
-        if(y1 > y2){
-          return Math.atan((x2 - x1) / (y2 - y1))* (180 / Math.PI)+270 - angle;
-        }
-        else{
-          return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI)+180 - angle;
-        }
-      }
     }
   @Override
   public void periodic() {