75 lines
2.8 KiB
Java
75 lines
2.8 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.commands.ModeAuto;
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import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
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import com.ctre.phoenix6.hardware.Pigeon2;
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import com.ctre.phoenix6.swerve.SwerveRequest;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.DriverStation.Alliance;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.generated.TunerConstants;
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import frc.robot.subsystems.CommandSwerveDrivetrain;
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import static edu.wpi.first.units.Units.*;
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import java.util.Optional;
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/* 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 */
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public class TournerVersReservoir extends Command {
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CommandSwerveDrivetrain drivetrain;
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Optional<Alliance> alliance = DriverStation.getAlliance();
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private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
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private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
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double force;
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double angle;
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private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
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.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
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.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
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/** Creates a new TournerAZero. */
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public TournerVersReservoir(CommandSwerveDrivetrain drivetrain) {
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this.drivetrain = drivetrain;
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addRequirements(drivetrain);
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// Use addRequirements() here to declare subsystem dependencies.
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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alliance = DriverStation.getAlliance();
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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if(alliance.isPresent()){
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if(alliance.get() == Alliance.Blue){
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force = 0.5;
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angle = 180;
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}
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else{
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force = -0.5;
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angle = 0;
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}
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}
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if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
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drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
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}
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else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
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drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
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}
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
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}
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}
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