sdesharnais/Rebuilt-2026
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Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

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This commit is contained in:
samuel desharnais
2026-03-28 14:42:07 -04:00
parent 9e3bd6e7d3 bd853dfc79
commit fbd94fc33d
3 changed files with 12 additions and 8 deletions
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2
src/main/java/frc/robot/commands/Lancer.java
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@@ -64,7 +64,7 @@ public class Lancer extends Command {
lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse-800){
timer.start();
if(timer.get() >0.5){
if(timer.get() >1){
lanceur.Demeler(1);
}

5
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];
}
@@ -62,7 +63,7 @@ public class LancerAuto extends Command {
lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse-800){
timer.start();
if(timer.get() >0.5){
if(timer.get() >1){
lanceur.Demeler(1);
}

13
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);
@@ -45,21 +45,24 @@ 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
public void execute() {
double[] BotPose = new double[6];
System.out.println("e");
System.out.println("a");
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();