changement fait

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

@@ -8,17 +8,18 @@ import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
 import frc.robot.subsystems.LimeLight3;
+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 Lancer extends Command {
   private Lanceur lanceur;
   private PIDController pidController;
-  private LimeLight3 limeLight3;
+  private Limelight3G limeLight3G;
   private double output;
   /** Creates a new Lancer. */
   public Lancer(Lanceur lanceur, LimeLight3 limeLight3) {
     this.lanceur = lanceur;
-    this.limeLight3 = new LimeLight3();
+    this.limeLight3G = new Limelight3G();
     addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -32,7 +33,7 @@ public class Lancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = (100-limeLight3.getTA())/100;
+    double vitesse = (100-limeLight3G.getTA())/100;
     double output = pidController.calculate(lanceur.Vitesse(),vitesse);
     lanceur.Lancer(output);
     if(lanceur.Vitesse() >= vitesse){

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

@@ -12,11 +12,13 @@ import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Balayeuse extends SubsystemBase {
-  SparkFlex Balaye = new SparkFlex(5, MotorType.kBrushless);
+  SparkFlex Balaye1 = new SparkFlex(5, MotorType.kBrushless);
+  SparkFlex Balaye2 = new SparkFlex(5, MotorType.kBrushless);
   SparkMax Pivot = new SparkMax(6, MotorType.kBrushless);
   DigitalInput limit = new DigitalInput(0);
   public void Balayer(double vitesse){
-    Balaye.set(vitesse);
+    Balaye1.set(vitesse);
+    Balaye2.set(vitesse);
   }
   public void Pivoter(double vitesse){
     Pivot.set(vitesse);

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

@@ -0,0 +1,68 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.LimelightHelpers;
+
+public class Limelight3G extends SubsystemBase {
+NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  /** Creates a new LimeLight3. */
+  public Limelight3G() {
+        for(int port = 5800; port <=5807; port++){
+      PortForwarder.add(port, "limelight.local", port);
+    }
+  }
+  public double[] getBotPoseBlue(){
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+    }
+    public double[] getBotPoseRed(){
+      NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+    }
+    public double getTx(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+      NetworkTableEntry tx = table.getEntry("tx");
+      return tx.getDouble(0.0);
+    }
+    public double getTId(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+      NetworkTableEntry tid = table.getEntry("tid");
+      return tid.getDouble(0.0);
+    }
+    public double getTA(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag");
+      NetworkTableEntry ta = table.getEntry("ta");
+      return ta.getDouble(0.0);
+    }
+    public boolean getV(){
+      return LimelightHelpers.getTV("limelight-tag");
+    }
+    public double Calcule(double x1, double x2, double y1, double y2, double angle)
+    {
+      if (x1 > 4)
+      {
+        return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle)/90;
+      }
+      else
+      {
+          return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1/90;
+      }
+    }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}