vfdrty

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

@@ -22,10 +22,14 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
@@ -54,8 +58,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     /* Swerve requests to apply during SysId characterization */
     private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
     private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
+    ShuffleboardTab teb = Shuffleboard.getTab("teb");
     private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-
+    private GenericEntry equipe = 
+    teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();  
     /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
     private final SysIdRoutine m_sysIdRoutineTranslation = new SysIdRoutine(
         new SysIdRoutine.Config(
@@ -221,7 +227,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         }
         configureAutoBuilder();
     }
-
+    public boolean Equipe(){
+        return equipe.getBoolean(false);
+    }
     /**
      * Returns a command that applies the specified control request to this swerve drivetrain.
      *
@@ -254,7 +262,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         else if(getPigeon2().getYaw().getValueAsDouble() < 0){
             getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
          }
-        
         /*
          * Periodically try to apply the operator perspective.
          * If we haven't applied the operator perspective before, then we should apply it regardless of DS state.

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

@@ -16,8 +16,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Led extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  private GenericEntry equipe = 
-  teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   @SuppressWarnings("removal")
   CANdle CANDle = new CANdle(17);
   @SuppressWarnings("removal")
@@ -91,9 +89,6 @@ public class Led extends SubsystemBase {
   public void RainBowStop(){
     CANDle.animate(null);
   }
-  public boolean Equipe(){
-    return equipe.getBoolean(true);
-  }
   /** Creates a new Led. */
   public Led() {}
 
@@ -104,7 +99,7 @@ public class Led extends SubsystemBase {
     if(temps > 20 && temps < 30){
       Vert1();
     }
-    if(Equipe()){
+    // if(Equipe()){
       if(temps > 30 && temps < 55){
         bleu();
       }
@@ -120,8 +115,8 @@ public class Led extends SubsystemBase {
       else{
         RainBow();
       }
-    }
-    else{
+    // }
+    // else{
       if(temps > 30 && temps < 55){
         Rouge();
       }
@@ -140,6 +135,6 @@ public class Led extends SubsystemBase {
     }
     // This method will be called once per scheduler run
     
-  }
+  // }
     
 }

src/main/java/frc/robot/subsystems/Limelight3G.java

@@ -72,7 +72,7 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
           return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
         }
         else{
-          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)-360 - angle;
+          return -Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
         }
     }
   @Override