sdesharnais/Rebuilt-2026
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samuel desharnais
2026-03-28 16:01:40 -04:00
parent 799e3e34c3
commit 755d79aa18
5 changed files with 16 additions and 14 deletions
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4
src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
View File

@@ -64,7 +64,7 @@ public class GrimperMur extends Command {
x = 1.11; x = 1.11;
angle = 0; angle = 0;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx)); drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
} }
else{ else{
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
@@ -80,7 +80,7 @@ public class GrimperMur extends Command {
y = 6.959326; y = 6.959326;
angle = 180; angle = 180;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx)); drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
} }
else{ else{
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){

4
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
View File

@@ -64,7 +64,7 @@ public class GrimperReservoir extends Command {
x = 13.57966; x = 13.57966;
angle = 180; angle = 180;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx)); drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
} }
else{ else{
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
@@ -80,7 +80,7 @@ public class GrimperReservoir extends Command {
x = 1.11; x = 1.11;
angle = 0; angle = 0;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx)); drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
} }
else{ else{
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){

6
src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
View File

@@ -69,11 +69,11 @@ public class LimelighterAuto extends Command {
if(angle >180){ if(angle >180){
angle -= 360; angle -= 360;
} }
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 3; calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;
drivetrain.setControl( drivetrain.setControl(
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul)); drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
System.out.println(calcul); System.out.println(calcul);
if (calcul < 0.2 && calcul > -0.2) { if (calcul < 0.1 && calcul > -0.1) {
drivetrain.setControl(drive.withRotationalRate(0)); drivetrain.setControl(drive.withRotationalRate(0));
} }
} }
@@ -92,7 +92,7 @@ public class LimelighterAuto extends Command {
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
return calcul < 0.2 && calcul > -0.2; return calcul < 0.1 && calcul > -0.1;
} }
} }

6
src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
View File

@@ -51,10 +51,10 @@ public class TournerVersMur extends Command {
angle = 180; angle = 180;
} }
if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
drivetrain.setControl(drive.withRotationalRate(force)); drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
} }
else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){ else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
drivetrain.setControl(drive.withRotationalRate(-force)); drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
} }
} }
@@ -65,6 +65,6 @@ public class TournerVersMur extends Command {
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 5; return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 10;
} }
} }

10
src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
View File

@@ -42,19 +42,21 @@ public class TournerVersReservoir extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
if(alliance.get() == Alliance.Blue){ if(alliance.isPresent()){
if(alliance.get() == Alliance.Blue){
force = 0.5; force = 0.5;
angle = 180; angle = 180;
} }
else{ else{
force = -0.5; force = -0.5;
angle = 0; angle = 0;
}
} }
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){ if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
drivetrain.setControl(drive.withRotationalRate(-force)); drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
} }
else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){ else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
drivetrain.setControl(drive.withRotationalRate(force)); drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
} }
} }
@@ -65,6 +67,6 @@ public class TournerVersReservoir extends Command {
// Returns true when the command should end. // Returns true when the command should end.
@Override @Override
public boolean isFinished() { public boolean isFinished() {
return drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 5; return drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
} }
} }