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debug de samedi

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This commit is contained in:
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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10
src/main/java/frc/robot/subsystems/Balayeuse.java
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@@ -22,11 +22,13 @@ public class Balayeuse extends SubsystemBase {
SparkMax Pivot = new SparkMax(8, MotorType.kBrushless);
DigitalInput limit = new DigitalInput(9);
private GenericEntry EncodeurBalayeuse =
teb.add("Position bas balayeuse", 10).getEntry();
teb.add("Position bas balayeuse", 1.8).getEntry();
private GenericEntry AmpBaleyeuse =
teb.add("Ampérage Baleyeuse", 40).getEntry();
public void Balayer(double vitesse){
public void BalayerEnbas(double vitesse){
Balaye1.set(vitesse);
}
public void BalayerPadle(double vitesse){
Balaye2.set(vitesse);
}
public void Pivoter(double vitesse){
@@ -36,7 +38,7 @@ public class Balayeuse extends SubsystemBase {
return Pivot.getEncoder().getPosition();
}
public void Reset(){
Pivot.getEncoder().setPosition(0);
Pivot.getEncoder().setPosition(0.6);
}
public boolean GetLimiSwtich(){
return !limit.get();
@@ -52,7 +54,7 @@ public class Balayeuse extends SubsystemBase {
timer.start();
}
public double EncodeurBalayeuse(){
return EncodeurBalayeuse.getDouble(10);
return EncodeurBalayeuse.getDouble(1.8);
}
/** Creates a new Balayeuse. */
public Balayeuse() {

3
src/main/java/frc/robot/subsystems/Lanceur.java
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@@ -6,6 +6,7 @@ package frc.robot.subsystems;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -16,7 +17,7 @@ public class Lanceur extends SubsystemBase {
ShuffleboardTab teb = Shuffleboard.getTab("teb");
SparkFlex moteur1 = new SparkFlex(15, MotorType.kBrushless);
SparkFlex moteur2 = new SparkFlex(18, MotorType.kBrushless);
SparkFlex Demeleur = new SparkFlex(19, MotorType.kBrushless);
SparkMax Demeleur = new SparkMax(19, MotorType.kBrushless);
GenericEntry vitesse =
teb.add("vitesse lanceur",4000).getEntry();
GenericEntry AmpLanceur =

14
src/main/java/frc/robot/subsystems/LimeLight3.java
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@@ -12,7 +12,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.LimelightHelpers;
public class LimeLight3 extends SubsystemBase {
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry pipeline = table.getEntry("pipeline");
/** Creates a new LimeLight3. */
public LimeLight3() {
@@ -21,34 +21,34 @@ public class LimeLight3 extends SubsystemBase {
}
}
public double[] getBotPoseBlue(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
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");
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balaie");
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");
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry tx = table.getEntry("tx");
return tx.getDouble(0.0);
}
public double getTId(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry tid = table.getEntry("tid");
return tid.getDouble(0.0);
}
public double getTA(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balaie");
NetworkTableEntry ta = table.getEntry("ta");
return ta.getDouble(0.0);
}
public boolean getV(){
return LimelightHelpers.getTV("limelight-balon");
return LimelightHelpers.getTV("limelight-balaie");
}
public void AprilTag(){
pipeline.setNumber(0);

13
src/main/java/frc/robot/subsystems/Limelight3G.java
View File

@@ -22,13 +22,13 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
}
public double[] getBotPoseBlue(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpiblue");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpiblue");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose;
}
public double[] getBotPoseRed(){
NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-tag");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_orb_wpired");
NetworkTableEntry BotPoseEntry = limelightTable.getEntry("botpose_wpired");
double[] BotPose = BotPoseEntry.getDoubleArray(new double[7]);
return BotPose;
}
@@ -52,14 +52,7 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
}
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;
}
return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI) - angle;
}
@Override
public void periodic() {