vgft

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

@@ -22,7 +22,8 @@ public class LancerAuto extends Command {
   Limelight3G limelight3g;
   double botx = 0;
   double boty = 0;
-    Optional<Alliance> alliance = DriverStation.getAlliance(); 
+  Optional<Alliance> alliance = DriverStation.getAlliance();
+
   /** Creates a new LancerAuto. */
   public LancerAuto(Lanceur lanceur, Limelight3G limelight3g) {
     this.lanceur = lanceur;
@@ -35,41 +36,43 @@ public class LancerAuto extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    pidController = new PIDController(0.0007, 0,0, 0.001);
+    pidController = new PIDController(0.0007, 0, 0, 0.001);
+    timer.reset();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     double[] BotPose = new double[6];
-    if(limelight3g.getV()){
-      if(alliance.isPresent()){
-      if(alliance.get() == Alliance.Blue){
-        BotPose = limelight3g.getBotPoseBlue();
+    if (limelight3g.getV()) {
+      if (!alliance.isPresent()) {
+        return;
       }
-      else{
+      if (alliance.get() == Alliance.Blue) {
+        BotPose = limelight3g.getBotPoseBlue();
+      } else {
         BotPose = limelight3g.getBotPoseRed();
-      } 
-    }
+      }
+
       botx = BotPose[0];
       boty = BotPose[1];
-    }                                        
+    }
     double vitesse = 0.5;
-    if(limelight3g.getV()){
-     vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2)))) + 2250;
-      System.out.println(vitesse);
+    if (limelight3g.getV()) {
+      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594 - botx), 2) + Math.pow(Math.abs(4.034536 - boty), 2))))
+          + 2250;
+      System.out.println("lancer");
 
-      double output = pidController.calculate(lanceur.Vitesse(),vitesse);
+      double output = pidController.calculate(lanceur.Vitesse(), vitesse);
       lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse-800){
+      if (lanceur.Vitesse() >= vitesse - 800) {
         timer.start();
-        if(timer.get() >1){
+        if (timer.get() > 1) {
           lanceur.Demeler(1);
         }
-
+      }
     }
   }
-  }
 
   // Called once the command ends or is interrupted.
   @Override
@@ -84,6 +87,6 @@ public class LancerAuto extends Command {
   @Override
   public boolean isFinished() {
     return timer.get() > 4;
-    //return false;
+    // return false;
   }
 }

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

@@ -53,16 +53,15 @@ public class LimelighterAuto extends Command {
   @Override
   public void execute() {
     double[] BotPose = new double[6];
-    System.out.println("a");
     if (limelight3g.getV()) {
-      if(alliance.isPresent()){
+      if(!alliance.isPresent()){return;}
         if(alliance.get() == Alliance.Blue){
         BotPose = limelight3g.getBotPoseBlue();
       }
       else{
         BotPose = limelight3g.getBotPoseRed();
       }
-      }
+      
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
@@ -72,8 +71,9 @@ public class LimelighterAuto extends Command {
       calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
       drivetrain.setControl(
           drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+              System.out.println("Limelighter");
       System.out.println(calcul);
-      if (calcul < 0.1 && calcul > -0.1) {
+      if (calcul < 0.3 && calcul > -0.3) {
       drivetrain.setControl(drive.withRotationalRate(0));
       }
     }
@@ -92,7 +92,7 @@ public class LimelighterAuto extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return calcul < 0.1 && calcul > -0.1;
+    return calcul < 0.3 && calcul > -0.3;
   }
 }