Code composante fini

src/main/java/frc/robot/subsystems/Grimpeur.java

@@ -6,9 +6,7 @@ package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.SparkMaxConfig;
-import com.revrobotics.spark.SparkBase.PersistMode;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
-import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -19,8 +17,8 @@ public class Grimpeur extends SubsystemBase {
   DigitalInput limit = new DigitalInput(1);
   public void Grimper(double vitesse){
     grimpeur1.set(vitesse);
-    slaveConfig.follow(grimpeur1, false);
-    grimpeur2.configure(slaveConfig,null,null);
+    grimpeur2.set(vitesse);
+
   }
   public double Position(){
     return grimpeur1.getEncoder().getPosition();

src/main/java/frc/robot/subsystems/Lanceur.java

@@ -6,7 +6,6 @@ package frc.robot.subsystems;
 
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.config.SparkMaxConfig;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -14,11 +13,9 @@ public class Lanceur extends SubsystemBase {
     SparkFlex moteur1 = new SparkFlex(2, MotorType.kBrushless);
     SparkFlex moteur2 = new SparkFlex(3, MotorType.kBrushless);
     SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
-    SparkMaxConfig slaveConfig = new SparkMaxConfig();
     public void Lancer(double vitesse){
         moteur1.set(vitesse);
-        slaveConfig.follow(moteur1, true);
-        moteur2.configure(slaveConfig,null,null);
+        moteur2.set(-vitesse);
     }
     public void Demeler(double vitesse){
       Demeleur.set(vitesse);

src/main/java/frc/robot/subsystems/LimeLight3.java

@@ -0,0 +1,74 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.LimelightHelpers;
+
+public class LimeLight3 extends SubsystemBase {
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+  NetworkTableEntry pipeline = table.getEntry("pipeline");
+  /** Creates a new LimeLight3. */
+  public LimeLight3() {
+        for(int port = 5800; port <=5807; port++){
+      PortForwarder.add(port, "limelight.local", port);
+    }
+  }
+  public double[] getBotPoseBlue(){
+    NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+    }
+    public double[] getBotPoseRed(){
+      NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
+    double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
+    return BotPose;
+    }
+    public double getTx(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+      NetworkTableEntry tx = table.getEntry("tx");
+      return tx.getDouble(0.0);
+    }
+    public double getTId(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+      NetworkTableEntry tid = table.getEntry("tid");
+      return tid.getDouble(0.0);
+    }
+    public double getTA(){
+      NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+      NetworkTableEntry ta = table.getEntry("ta");
+      return ta.getDouble(0.0);
+    }
+    public boolean getV(){
+      return LimelightHelpers.getTV("limelight-balon");
+    }
+    public void AprilTag(){
+      pipeline.setNumber(0);
+    }
+    public void Forme(){
+      pipeline.setNumber(1);
+    }
+    public double Calcule(double x1, double x2, double y1, double y2, double angle)
+    {
+      if (x1 > 4)
+      {
+        return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) - angle)/90;
+      }
+      else
+      {
+          return (Math.abs(Math.atan2(x2 - x1, y2 - y1)) * (180 / Math.PI) + angle) * -1/90;
+      }
+    }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}