sdesharnais/Rebuilt-2026
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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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13
src/main/java/frc/robot/subsystems/Limelight3G.java
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@@ -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() {