sdesharnais/Rebuilt-2026
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grimpe mode auto

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This commit is contained in:
samuel desharnais
2026-04-02 20:34:53 -04:00
parent 6885b80d6a
commit 6c86b2ed5c
8 changed files with 40 additions and 55 deletions
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4
src/main/java/frc/robot/subsystems/Grimpeur.java
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@@ -21,7 +21,7 @@ public class Grimpeur extends SubsystemBase {
SparkMaxConfig slaveConfig = new SparkMaxConfig();
DigitalInput limit = new DigitalInput(0);
private GenericEntry EncodeurGrimpeur =
teb.add("Position haut grimpeur", 101).getEntry();
teb.add("Position haut grimpeur", 100).getEntry();
public void Grimper(double vitesse){
grimpeur1.set(vitesse);
grimpeur2.set(vitesse);
@@ -36,7 +36,7 @@ public class Grimpeur extends SubsystemBase {
return limit.get();
}
public double PositionFinal(){
return EncodeurGrimpeur.getDouble(101);
return EncodeurGrimpeur.getDouble(100);
}
/** Creates a new Grimpeur. */
public Grimpeur() {

4
src/main/java/frc/robot/subsystems/LimeLight3.java
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@@ -22,13 +22,13 @@ public class LimeLight3 extends SubsystemBase {
}
public double[] getBotPoseBlue(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose;
}
public double[] getBotPoseRed(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose;
}

4
src/main/java/frc/robot/subsystems/Limelight3G.java
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@@ -69,10 +69,10 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
// }
// }
if(y1 > y2){
return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
return Math.toDegrees(Math.atan((x2 - x1) /(y2 - y1))) - angle;
}
else{
return -Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
return Math.toDegrees(-Math.atan((x2 - x1) / (y2 - y1))) - angle;
}
}
@Override