sdesharnais/Rebuilt-2026
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samuel desharnais
2026-03-24 17:52:09 -04:00
parent a7fb3108ea
commit 7d2b2ea139
18 changed files with 277 additions and 73 deletions
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9
src/main/java/frc/robot/commands/Lancer.java
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@@ -25,6 +25,7 @@ public class Lancer extends Command {
this.timer = new Timer();
this.limeLight3G = new Limelight3G();
addRequirements(lanceur, limeLight3G);
this.temp = 0;
// Use addRequirements() here to declare subsystem dependencies.
}
@@ -48,10 +49,10 @@ public class Lancer extends Command {
botx = BotPose[0];
boty = BotPose[1];
}
double vitesse = 0.5;
if(limeLight3G.getV()){
vitesse = 3100 + 475 * ((Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2))) - 2);
System.out.println(vitesse);
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);
double output = pidController.calculate(lanceur.Vitesse(),vitesse);
lanceur.Lancer(output);