vgft

src/main/deploy/pathplanner/paths/Depot.path

@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5732667617689007,
+        "x": 3.6120827389443653,
         "y": 5.917574893009986
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.266462196861626,
+        "x": 2.3052781740370905,
         "y": 5.904636233951498
       },
       "isLocked": false,
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.4938659058487873,
         "y": 5.917574893009986
       },
       "prevControl": {
-        "x": 1.7230385164051354,
+        "x": 1.0372895863052785,
         "y": 5.930513552068473
       },
       "nextControl": null,

src/main/deploy/pathplanner/paths/Tir.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1796148359486442,
+        "x": 0.5197432239657629,
-        "y": 5.917574893009986
+        "y": 5.930513552068473
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3570328102710407,
+        "x": 1.6971611982881594,
-        "y": 5.982268188302426
+        "y": 5.995206847360913
       },
       "isLocked": false,
       "linkedName": null
@@ -30,7 +30,7 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.2179128348660559,
+      "waypointRelativePos": 0.3240938166311289,
       "rotationDegrees": 180.0
     }
   ],

src/main/java/frc/robot/RobotContainer.java

@@ -98,7 +98,7 @@ public class RobotContainer {
           drivetrain.applyRequest(() ->
             drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) 
               .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed*0.7, 0.05)) 
-             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate*0.7, 0.05))
+             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
         )
       );
     //manette 1

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

@@ -37,7 +37,7 @@ public class Lancer extends Command {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    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;}
+    if(limeLight3G.getV()){}
     pidController = new PIDController(0.0007, 0,0, 0.001);
     timer.reset();  
   }
@@ -47,7 +47,7 @@ public class Lancer extends Command {
   public void execute() {
     double[] BotPose = new double[6];
     if(limeLight3G.getV()){
-     
+    if(!alliance.isPresent()){return;}
       if(alliance.get() == Alliance.Blue){
         BotPose = limeLight3G.getBotPoseBlue();
       }
@@ -56,6 +56,7 @@ public class Lancer extends Command {
       } 
       botx = BotPose[0];
       boty = BotPose[1];
+    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);

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

@@ -50,6 +50,7 @@ public class Limelighter extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
+      if(!alliance.isPresent()){return;}
       if(alliance.get() == Alliance.Blue){
         BotPose = limelight3g.getBotPoseBlue();
       }

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

@@ -23,6 +23,7 @@ public class LancerAuto extends Command {
   double botx = 0;
   double boty = 0;
   Optional<Alliance> alliance = DriverStation.getAlliance();
+
   /** Creates a new LancerAuto. */
   public LancerAuto(Lanceur lanceur, Limelight3G limelight3g) {
     this.lanceur = lanceur;
@@ -35,38 +36,40 @@ 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 (limelight3g.getV()) {
-      if(alliance.isPresent()){
+      if (!alliance.isPresent()) {
-      if(alliance.get() == Alliance.Blue){
+        return;
-        BotPose = limelight3g.getBotPoseBlue();
       }
-      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()){
+    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;
+      vitesse = 410.57 * ((Math.sqrt(Math.pow(Math.abs(4.625594 - botx), 2) + Math.pow(Math.abs(4.034536 - boty), 2))))
-      System.out.println(vitesse);
+          + 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);
         }
-
       }
     }
   }
@@ -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;
   }
 }