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debug de samedi

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samuel desharnais
2026-03-21 16:11:24 -04:00
parent e0c1e26933
commit a7fb3108ea
18 changed files with 178 additions and 150 deletions
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58
src/main/java/frc/robot/commands/Lancer.java
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@@ -18,17 +18,13 @@ public class Lancer extends Command {
private PIDController pidController;
private Limelight3G limeLight3G;
private Timer timer;
private Balayeuse balayeuse;
private Led led;
private double temp;
/** Creates a new Lancer. */
public Lancer(Lanceur lanceur, Limelight3G limeLight3G, Balayeuse balayeuse,Led led) {
public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
this.lanceur = lanceur;
this.balayeuse = balayeuse;
this.led = led;
this.timer = new Timer();
this.limeLight3G = new Limelight3G();
addRequirements(lanceur, balayeuse, led, limeLight3G);
addRequirements(lanceur, limeLight3G);
this.temp = 0;
// Use addRequirements() here to declare subsystem dependencies.
}
@@ -36,9 +32,8 @@ public class Lancer extends Command {
// Called when the command is initially scheduled.
@Override
public void initialize() {
pidController = new PIDController(1, 0,0, 0);
pidController = new PIDController(0.0007, 0,0, 0.001);
timer.reset();
timer.start();
temp = lanceur.Amp();
}
@@ -52,40 +47,22 @@ public class Lancer extends Command {
BotPose = limeLight3G.getBotPoseBlue();
botx = BotPose[0];
boty = BotPose[1];
}
int nbFois = 0;
double moyenneAmp = 0;
if(timer.get() < 3){
nbFois++;
moyenneAmp += balayeuse.Amp() / nbFois;
}
else{
nbFois++;
moyenneAmp -= temp;
moyenneAmp += balayeuse.Amp() / nbFois;
temp = balayeuse.Amp();
}
// if(moyenneAmp > lanceur.AmpBas() && nbFois > 10){
timer.reset();
balayeuse.Balayer(-0.5);
// led.Jaune2();
// }
// else{
}
double vitesse = 0.5;
if(limeLight3G.getV()){
//pythagore |
// \/
vitesse = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
}
double output = vitesse; /*pidController.calculate(lanceur.Vitesse(),vitesse);*/
lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse){
lanceur.Demeler(0.1);
}
// }
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 output = pidController.calculate(lanceur.Vitesse(),vitesse);
lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse-800){
timer.start();
if(timer.get() >0.5){
lanceur.Demeler(1);
}
}
}
}
// Called once the command ends or is interrupted.
@@ -93,7 +70,8 @@ public class Lancer extends Command {
public void end(boolean interrupted) {
lanceur.Demeler(0);
lanceur.Lancer(0);
balayeuse.Pivoter(0);
timer.reset();
timer.stop();
}
// Returns true when the command should end.