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led selon distance

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This commit is contained in:
samuel desharnais
2026-03-24 18:02:23 -04:00
parent 7d2b2ea139
commit 7f0f957ad1
3 changed files with 36 additions and 15 deletions
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2
src/main/java/frc/robot/RobotContainer.java
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@@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.robot.commands.Aspirer;
import frc.robot.commands.DescendreBalyeuse;
import frc.robot.commands.DescendreGrimpeur;
import frc.robot.commands.DistanceLancer;
import frc.robot.commands.Lancer;
import frc.robot.commands.LancerAspirer;
import frc.robot.commands.LancerBaseVitesse;
@@ -94,6 +95,7 @@ public class RobotContainer {
}
private void configureBindings() {
led.setDefaultCommand(new DistanceLancer(limeLight3G, led));
drivetrain.setDefaultCommand(
drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05))

25
src/main/java/frc/robot/commands/DitanceLancer.java → src/main/java/frc/robot/commands/DistanceLancer.java
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@@ -9,11 +9,11 @@ import frc.robot.subsystems.Led;
import frc.robot.subsystems.Limelight3G;
/* 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 DitanceLancer extends Command {
public class DistanceLancer extends Command {
private Led led;
private Limelight3G limelight3g;
/** Creates a new DitanceLancer. */
public DitanceLancer(Limelight3G limelight3g, Led led) {
public DistanceLancer(Limelight3G limelight3g, Led led) {
this.led = led;
this.limelight3g = limelight3g;
addRequirements(led,limelight3g);
@@ -27,12 +27,31 @@ public class DitanceLancer extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double botx = 0;
double boty = 0;
double[] BotPose = new double[6];
double distance = 0;
if(limelight3g.getV()){
BotPose = limelight3g.getBotPoseBlue();
botx = BotPose[0];
boty = BotPose[1];
}
if(limelight3g.getV()){
distance = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
}
if(distance > 1.7){
led.Jaune2();
}
else{
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {}
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override

20
src/main/java/frc/robot/subsystems/Led.java
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@@ -68,16 +68,16 @@ public class Led extends SubsystemBase {
CANDle.setLEDs(255, 255, 0,0,120,8);
CANDle.setLEDs(255, 255, 0,0,136,8);
}
public void Vert2(){
CANDle.setLEDs(0, 255, 0,0,8,8);
CANDle.setLEDs(0, 255, 0,0,24,8);
CANDle.setLEDs(0, 255, 0,0,40,8);
CANDle.setLEDs(0, 255, 0,0,56,8);
CANDle.setLEDs(0, 255, 0,0,72,8);
CANDle.setLEDs(0, 255, 0,0,88,8);
CANDle.setLEDs(0, 255, 0,0,104,8);
CANDle.setLEDs(0, 255, 0,0,120,8);
CANDle.setLEDs(0, 255, 0,0,136,8);
public void Rouge2(){
CANDle.setLEDs(255, 0, 0,0,8,8);
CANDle.setLEDs(255, 0, 0,0,24,8);
CANDle.setLEDs(255, 0, 0,0,40,8);
CANDle.setLEDs(255, 0, 0,0,56,8);
CANDle.setLEDs(255, 0, 0,0,72,8);
CANDle.setLEDs(255, 0, 0,0,88,8);
CANDle.setLEDs(255, 0, 0,0,104,8);
CANDle.setLEDs(255, 0, 0,0,120,8);
CANDle.setLEDs(255, 0, 0,0,136,8);
}
public void RainBow(){
CANDle.animate(rainbowAnim);