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pigeon

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This commit is contained in:
Antoine PerreaultE
2026-03-28 13:21:30 -04:00
parent 79568a58b9
commit a92a7a0ea1
6 changed files with 29 additions and 35 deletions
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13
src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
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@@ -33,7 +33,6 @@ public class GrimperMur extends Command {
double angle;
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
Pigeon2 pigeon2;
Optional<Alliance> alliance = DriverStation.getAlliance();
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
@@ -63,14 +62,14 @@ public class GrimperMur extends Command {
y = 2.961328;
x = 1.11;
angle = 0;
if(pigeon2.getYaw().getValueAsDouble() > 355 || pigeon2.getYaw().getValueAsDouble() < 5){
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
}
else{
if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
drivetrain.setControl(drive.withRotationalRate(-0.5));
}
else if(pigeon2.getYaw().getValueAsDouble() >180){
else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
drivetrain.setControl(drive.withRotationalRate(0.5));
}
}
@@ -79,14 +78,14 @@ public class GrimperMur extends Command {
x = 11.45966;
y = 6.959326;
angle = 180;
if(pigeon2.getYaw().getValueAsDouble() > 175 && pigeon2.getYaw().getValueAsDouble() < 185){
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 175 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 185){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
}
else{
if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
drivetrain.setControl(drive.withRotationalRate(0.5));
}
else if(pigeon2.getYaw().getValueAsDouble() >180){
else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
drivetrain.setControl(drive.withRotationalRate(-0.5));
}
}