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

pigeon
2026-03-28 13:21:35 -04:00 · 2026-03-28 13:21:30 -04:00
6 changed files with 29 additions and 35 deletions
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
@@ -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));
      }
    }
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
@@ -33,7 +33,6 @@ public class GrimperReservoir 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 GrimperReservoir extends Command {
     y = 5.081328;
     x = 1.11;
     angle = 180;
-     if(pigeon2.getYaw().getValueAsDouble() < 185 && pigeon2.getYaw().getValueAsDouble() > 175){
+     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 185 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 175){
      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 GrimperReservoir extends Command {
     y = 6.959326;
     x = 13.57966;
     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));
      }
    }
--- a/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java
@@ -30,7 +30,6 @@ public class RetourMilieuDroite 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) 
@@ -58,7 +57,7 @@ public class RetourMilieuDroite extends Command {
      x = 2.305;
      angle = 0;
      if(limelight3g.getV()){
-        if(pigeon2.getYaw().getValueAsDouble() >355 || pigeon2.getYaw().getValueAsDouble() < 5){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
        if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
          drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
        }
@@ -72,10 +71,10 @@ public class RetourMilieuDroite extends Command {
        }
      }
      else{
-        if(pigeon2.getYaw().getValueAsDouble() >angle && pigeon2.getYaw().getValueAsDouble() <angle +180){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() <angle +180){
          drivetrain.setControl(drive.withRotationalRate(0.5));
        }
-        else if(pigeon2.getYaw().getValueAsDouble() >=angle +180){
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=angle +180){
    
          drivetrain.setControl(drive.withRotationalRate(-0.5));
        }
@@ -88,10 +87,10 @@ public class RetourMilieuDroite extends Command {
      angle = 180;
      if(limelight3g.getV()){
    }
-    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));
    }
  }
--- a/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuGauche.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/RetourMilieuGauche.java
@@ -30,7 +30,6 @@ public class RetourMilieuGauche 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) 
@@ -63,7 +62,7 @@ public class RetourMilieuGauche extends Command {
      x = 2.305;
      angle = 0;
      if(limelight3g.getV()){
-        if(pigeon2.getYaw().getValueAsDouble() >355 || pigeon2.getYaw().getValueAsDouble() < 5){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
        if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
          drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
        }
@@ -77,10 +76,10 @@ public class RetourMilieuGauche extends Command {
        }
      }
      else{
-        if(pigeon2.getYaw().getValueAsDouble() >angle && pigeon2.getYaw().getValueAsDouble() <angle +180){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() <angle +180){
          drivetrain.setControl(drive.withRotationalRate(0.5));
        }
-        else if(pigeon2.getYaw().getValueAsDouble() >=angle +180){
+        else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=angle +180){
    
          drivetrain.setControl(drive.withRotationalRate(-0.5));
        }
@@ -92,7 +91,7 @@ public class RetourMilieuGauche extends Command {
      x = 13.963;
      angle = 180;
      if(limelight3g.getV()){
-        if(pigeon2.getYaw().getValueAsDouble() >175 && pigeon2.getYaw().getValueAsDouble() < 185){
+        if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >175 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 185){
        if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
          drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
        }
@@ -106,10 +105,10 @@ public class RetourMilieuGauche extends Command {
        }
      }
      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));
        }
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
@@ -23,7 +23,6 @@ public class TournerVersMur extends Command {
  Optional<Alliance> alliance = DriverStation.getAlliance();
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
  double force;
  double angle;
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
@@ -51,10 +50,10 @@ public class TournerVersMur extends Command {
      force = -0.5;
      angle = 180;
    }
-    if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
      drivetrain.setControl(drive.withRotationalRate(force));
    }
-    else if(pigeon2.getYaw().getValueAsDouble() >180){
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
      drivetrain.setControl(drive.withRotationalRate(-force));
    }
  }
@@ -66,6 +65,6 @@ public class TournerVersMur extends Command {
  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
-    return pigeon2.getYaw().getValueAsDouble() > angle && pigeon2.getYaw().getValueAsDouble() < angle + 5;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 5;
  }
 }
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
@@ -23,7 +23,6 @@ public class TournerVersReservoir extends Command {
  Optional<Alliance> alliance = DriverStation.getAlliance();
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
-  Pigeon2 pigeon2; 
  double force;
  double angle;
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
@@ -51,10 +50,10 @@ public class TournerVersReservoir extends Command {
      force = -0.5;
      angle = 0;
    }
-    if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
+    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
      drivetrain.setControl(drive.withRotationalRate(-force));
    }
-    else if(pigeon2.getYaw().getValueAsDouble() >180){
+    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
      drivetrain.setControl(drive.withRotationalRate(force));
    }
  }
@@ -66,6 +65,6 @@ public class TournerVersReservoir extends Command {
  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
-    return  pigeon2.getYaw().getValueAsDouble() > angle && pigeon2.getYaw().getValueAsDouble() < angle + 5;
+    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 5;
  }
 }
Author	SHA1	Message	Date
Antoine PerreaultE	85da1dcad1	Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026	2026-03-28 13:21:35 -04:00
Antoine PerreaultE	a92a7a0ea1	pigeon	2026-03-28 13:21:30 -04:00