134 lines
4.4 KiB
Java
134 lines
4.4 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package frc.robot.commands.ModeAuto;
|
|
|
|
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
|
|
import com.ctre.phoenix6.swerve.SwerveRequest;
|
|
|
|
import edu.wpi.first.wpilibj.DriverStation;
|
|
import edu.wpi.first.wpilibj.DriverStation.Alliance;
|
|
import edu.wpi.first.wpilibj2.command.Command;
|
|
import frc.robot.generated.TunerConstants;
|
|
import frc.robot.subsystems.CommandSwerveDrivetrain;
|
|
import frc.robot.subsystems.Limelight3G;
|
|
import static edu.wpi.first.units.Units.*;
|
|
|
|
import java.util.Optional;
|
|
|
|
/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
|
|
public class LimelighterAuto extends Command {
|
|
Limelight3G limelight3g;
|
|
CommandSwerveDrivetrain drivetrain;
|
|
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
|
|
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
|
|
double botx;
|
|
double boty;
|
|
double angle;
|
|
double calcul;
|
|
double x;
|
|
Optional<Alliance> alliance = DriverStation.getAlliance();
|
|
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
|
|
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
|
|
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
|
|
|
|
/** Creates a new Limelighter. */
|
|
public LimelighterAuto(Limelight3G limelight3g, CommandSwerveDrivetrain drivetrain) {
|
|
this.limelight3g = limelight3g;
|
|
this.drivetrain = drivetrain;
|
|
addRequirements(drivetrain, limelight3g);
|
|
// Use addRequirements() here to declare subsystem dependencies.
|
|
}
|
|
|
|
// Called when the command is initially scheduled.
|
|
@Override
|
|
public void initialize() {
|
|
alliance = DriverStation.getAlliance();
|
|
}
|
|
|
|
// Called every time the scheduler runs while the command is scheduled.
|
|
@Override
|
|
public void execute() {
|
|
double[] BotPose = new double[6];
|
|
System.out.println("e");
|
|
if (limelight3g.getV()) {
|
|
BotPose = limelight3g.getBotPoseBlue();
|
|
if (!alliance.isPresent()) {
|
|
return;
|
|
}
|
|
if (alliance.get() == Alliance.Blue) {
|
|
x = 4.6;
|
|
BotPose = limelight3g.getBotPoseBlue();
|
|
}
|
|
else {
|
|
// x = 11.915394;
|
|
x = 4.6;
|
|
BotPose = limelight3g.getBotPoseRed();
|
|
}
|
|
botx = BotPose[0];
|
|
boty = BotPose[1];
|
|
angle = BotPose[5];
|
|
calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
|
|
if(calcul > -5 && calcul < 5){
|
|
drivetrain.setControl(
|
|
drive.withRotationalRate(0));
|
|
}
|
|
else if(calcul > 5){
|
|
drivetrain.setControl(
|
|
drive.withRotationalRate(2));
|
|
}
|
|
else if(calcul < -5){
|
|
drivetrain.setControl(drive.withRotationalRate(-2));
|
|
}
|
|
// botx = BotPose[1];
|
|
// boty = BotPose[0];
|
|
// angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
|
|
// calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
|
|
// if(calcul < -5 && calcul > -180){
|
|
// drivetrain.setControl(
|
|
// drive.withRotationalRate(0.5*(2*Math.PI)));
|
|
// }
|
|
// else if(calcul > 5 && calcul < 180){
|
|
// drivetrain.setControl(
|
|
// drive.withRotationalRate(-0.5*(2*Math.PI)));
|
|
// }
|
|
// else if(calcul < -5){
|
|
// drivetrain.setControl(
|
|
// drive.withRotationalRate(-0.5*(2*Math.PI)));
|
|
// }
|
|
// else if(calcul <= -180){
|
|
// drivetrain.setControl(
|
|
// drive.withRotationalRate(0.5*(2*Math.PI)));
|
|
// }
|
|
// else{
|
|
// drivetrain.setControl(
|
|
// drive.withRotationalRate(0));
|
|
// }
|
|
// drivetrain.setControl(
|
|
// drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
|
|
// System.out.println(angle);
|
|
// if (calcul < 0.2 && calcul > -0.2) {
|
|
// drivetrain.setControl(drive.withRotationalRate(0));
|
|
// }
|
|
}
|
|
else{
|
|
drivetrain.setControl(drive.withRotationalRate(0));
|
|
}
|
|
}
|
|
|
|
|
|
// Called once the command ends or is interrupted.
|
|
@Override
|
|
public void end(boolean interrupted) {
|
|
drivetrain.setControl(drive.withRotationalRate(0));
|
|
}
|
|
|
|
// Returns true when the command should end.
|
|
@Override
|
|
public boolean isFinished() {
|
|
return calcul > -5 && calcul < 5;
|
|
}
|
|
}
|
|
|