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voltage et allaince

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This commit is contained in:
Antoine PerreaultE
2026-03-28 13:51:22 -04:00
parent 85da1dcad1
commit cb3104152c
3 changed files with 12 additions and 8 deletions
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6
src/main/java/frc/robot/RobotContainer.java
View File

@@ -96,9 +96,9 @@ public class RobotContainer {
private void configureBindings() {
drivetrain.setDefaultCommand(
drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05))
.withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed, 0.05))
.withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*MaxSpeed, 0.05))
.withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*MaxSpeed, 0.05))
.withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*MaxAngularRate, 0.05))
)
);
//manette 1

3
src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
View File

@@ -43,13 +43,14 @@ public class LancerAuto extends Command {
public void execute() {
double[] BotPose = new double[6];
if(limelight3g.getV()){
if(alliance.isPresent()){
if(alliance.get() == Alliance.Blue){
BotPose = limelight3g.getBotPoseBlue();
}
else{
BotPose = limelight3g.getBotPoseRed();
}
}
botx = BotPose[0];
boty = BotPose[1];
}

11
src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
View File

@@ -30,7 +30,7 @@ public class LimelighterAuto extends Command {
double boty;
double angle;
double calcul;
Optional<Alliance> alliance = DriverStation.getAlliance();
Optional<Alliance> alliance = DriverStation.getAlliance();
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -45,7 +45,9 @@ public class LimelighterAuto extends Command {
// Called when the command is initially scheduled.
@Override
public void initialize() {}
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
@@ -53,13 +55,14 @@ public class LimelighterAuto extends Command {
double[] BotPose = new double[6];
System.out.println("e");
if (limelight3g.getV()) {
if(alliance.get() == Alliance.Blue){
if(alliance.isPresent()){
if(alliance.get() == Alliance.Blue){
BotPose = limelight3g.getBotPoseBlue();
}
else{
BotPose = limelight3g.getBotPoseRed();
}
}
botx = BotPose[1];
boty = BotPose[0];
angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();