sdesharnais/Rebuilt-2026
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This commit is contained in:
samuel desharnais
2026-03-31 19:53:25 -04:00
parent 4d1b353e25
commit 272f89962a
2 changed files with 14 additions and 10 deletions
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7
src/main/java/frc/robot/commands/Lancer.java
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@@ -48,7 +48,9 @@ public class Lancer extends Command {
public void execute() {
double[] BotPose = new double[6];
if(limeLight3G.getV()){
if(!alliance.isPresent()){return;}
if(!alliance.isPresent()){
return;
}
if(alliance.get() == Alliance.Blue){
BotPose = limeLight3G.getBotPoseBlue();
}
@@ -60,10 +62,11 @@ public class Lancer extends Command {
vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
}
if(limeLight3G.getV()){
System.out.println(vitesse);
double output = pidController.calculate(lanceur.Vitesse(),vitesse);
lanceur.Lancer(output);
System.out.println(output);
if(lanceur.Vitesse() >= vitesse-800){
timer.start();
if(timer.get() >1){