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); lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse-800){ if(lanceur.Vitesse() >= vitesse-800){
timer.start(); timer.start();
if(timer.get() >0.5){ if(timer.get() >1){
lanceur.Demeler(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() { public void execute() {
double[] BotPose = new double[6]; double[] BotPose = new double[6];
if(limelight3g.getV()){ if(limelight3g.getV()){
if(alliance.isPresent()){
if(alliance.get() == Alliance.Blue){ if(alliance.get() == Alliance.Blue){
BotPose = limelight3g.getBotPoseBlue(); BotPose = limelight3g.getBotPoseBlue();
} }
else{ else{
BotPose = limelight3g.getBotPoseRed(); BotPose = limelight3g.getBotPoseRed();
} }
}
botx = BotPose[0]; botx = BotPose[0];
boty = BotPose[1]; boty = BotPose[1];
} }
@@ -62,7 +63,7 @@ public class LancerAuto extends Command {
lanceur.Lancer(output); lanceur.Lancer(output);
if(lanceur.Vitesse() >= vitesse-800){ if(lanceur.Vitesse() >= vitesse-800){
timer.start(); timer.start();
if(timer.get() >0.5){ if(timer.get() >1){
lanceur.Demeler(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 boty;
double angle; double angle;
double calcul; double calcul;
Optional<Alliance> alliance = DriverStation.getAlliance(); Optional<Alliance> alliance = DriverStation.getAlliance();
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric() private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -45,21 +45,24 @@ public class LimelighterAuto extends Command {
// Called when the command is initially scheduled. // Called when the command is initially scheduled.
@Override @Override
public void initialize() {} public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
double[] BotPose = new double[6]; double[] BotPose = new double[6];
System.out.println("e"); System.out.println("a");
if (limelight3g.getV()) { if (limelight3g.getV()) {
if(alliance.get() == Alliance.Blue){ if(alliance.isPresent()){
if(alliance.get() == Alliance.Blue){
BotPose = limelight3g.getBotPoseBlue(); BotPose = limelight3g.getBotPoseBlue();
} }
else{ else{
BotPose = limelight3g.getBotPoseRed(); BotPose = limelight3g.getBotPoseRed();
} }
}
botx = BotPose[1]; botx = BotPose[1];
boty = BotPose[0]; boty = BotPose[0];
angle = drivetrain.getPigeon2().getYaw().getValueAsDouble(); angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();