debug de jeudi

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

@@ -7,16 +7,18 @@ package frc.robot.commands.ModeAuto;
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
-import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Limelight3G;
 import static edu.wpi.first.units.Units.*;
 
+import java.util.Optional;
+
 /* 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 LimelighterAuto extends Command {
-  Timer timer;
   Limelight3G limelight3g;
   CommandSwerveDrivetrain drivetrain;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
@@ -25,6 +27,7 @@ public class LimelighterAuto extends Command {
   double boty;
   double angle;
   double calcul;
+   Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
       .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -34,39 +37,37 @@ public class LimelighterAuto extends Command {
     this.limelight3g = limelight3g;
     this.drivetrain = drivetrain;
     addRequirements(drivetrain, limelight3g);
-    timer = new Timer();
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
-    timer.reset();
-  }
+  public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     double[] BotPose = new double[6];
+    System.out.println("e");
     if (limelight3g.getV()) {
-      BotPose = limelight3g.getBotPoseBlue();
+      if(alliance.get() == Alliance.Blue){
+        BotPose = limelight3g.getBotPoseBlue();
+      }
+      else{
+        BotPose = limelight3g.getBotPoseRed();
+      }
+      
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
       if(angle >180){
-        angle =- 360;
+        angle -= 360;
       }
       calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
       drivetrain.setControl(
           drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
       System.out.println(calcul);
       if (calcul < 0.2 && calcul > -0.2) {
-    //     timer.start();
-    //   } else {
-    //     timer.reset();
-    //   }
-    // } else {
-    //   timer.stop();
       drivetrain.setControl(drive.withRotationalRate(0));
       }
     }
@@ -80,7 +81,6 @@ public class LimelighterAuto extends Command {
   @Override
   public void end(boolean interrupted) {
     drivetrain.setControl(drive.withRotationalRate(0));
-    timer.stop();
   }
 
   // Returns true when the command should end.
@@ -89,3 +89,4 @@ public class LimelighterAuto extends Command {
     return calcul < 0.1 && calcul > -0.1;
   }
 }
+