sdesharnais/Rebuilt-2026
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Lanceur re/gle/

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This commit is contained in:
Antoine PerreaultE
2026-03-10 18:27:47 -04:00
parent 8dfcd65405
commit d81ff3db3d
2 changed files with 11 additions and 3 deletions
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4
src/main/java/frc/robot/RobotContainer.java
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@@ -32,12 +32,14 @@ import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Lanceur;
import frc.robot.subsystems.Led;
import frc.robot.subsystems.LimeLight3;
import frc.robot.subsystems.Limelight3G;
public class RobotContainer {
Balayeuse balayeuse = new Balayeuse();
Grimpeur grimpeur = new Grimpeur();
Lanceur lanceur = new Lanceur();
LimeLight3 limeLight3 = new LimeLight3();
Limelight3G limeLight3G = new Limelight3G();
Led led = new Led();
CommandXboxController manette = new CommandXboxController(0);
public RobotContainer() {
@@ -58,7 +60,7 @@ public class RobotContainer {
}
private void configureBindings() {
manette.a().whileTrue(new Lancer(lanceur,limeLight3,balayeuse,led));
manette.a().whileTrue(new Lancer(lanceur,limeLight3G,balayeuse,led));
manette.y().whileTrue(new ModeOposer(lanceur, balayeuse));
manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3, balayeuse, led));
manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));

10
src/main/java/frc/robot/commands/Lancer.java
View File

@@ -23,7 +23,7 @@ public class Lancer extends Command {
private Led led;
private double temp;
/** Creates a new Lancer. */
public Lancer(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
public Lancer(Lanceur lanceur, Limelight3G limeLight3G, Balayeuse balayeuse,Led led) {
this.lanceur = lanceur;
this.balayeuse = balayeuse;
this.led = led;
@@ -46,6 +46,10 @@ public class Lancer extends Command {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
double[] BotPose = new double[6];
BotPose = limeLight3G.getBotPoseBlue();
double botx = BotPose[0];
double boty = BotPose[1];
int nbFois = 0;
double moyenneAmp = 0;
@@ -65,7 +69,9 @@ public class Lancer extends Command {
led.Jaune2();
}
else{
double vitesse = (100-limeLight3G.getTA())/lanceur.Vitesse();
//pythagore |
// \/
double vitesse = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
double output = pidController.calculate(lanceur.Vitesse(),vitesse);
lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse){