133 lines
4.7 KiB
Java
133 lines
4.7 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 static edu.wpi.first.units.Units.*;
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import java.util.Optional;
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import com.ctre.phoenix6.hardware.Pigeon2;
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import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
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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 frc.robot.subsystems.Limelight3G;
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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 RetourMilieuGauche extends Command {
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CommandSwerveDrivetrain drivetrain;
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Limelight3G limelight3g;
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double botx;
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double boty;
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double x;
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double y;
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double angle;
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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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Optional<Alliance> alliance = DriverStation.getAlliance();
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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 RetourMilieu. */
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public RetourMilieuGauche(CommandSwerveDrivetrain drivetrain, Limelight3G limelight3g) {
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this.drivetrain = drivetrain;
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this.limelight3g = limelight3g;
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addRequirements(drivetrain, limelight3g);
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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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// 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(angle < 0){
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angle = angle + 360;
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}
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double[] BotPose = new double[6];
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BotPose = limelight3g.getBotPoseBlue();
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botx = BotPose[0];
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boty = BotPose[1];
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if(alliance.get() == Alliance.Blue){
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y = 7.380;
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x = 2.305;
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angle = 0;
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if(limelight3g.getV()){
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if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >355 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 5){
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if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
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drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
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}
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else{
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if(botx < 6){
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drivetrain.setControl(drive.withVelocityX(y-boty));
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}
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else{
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drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
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}
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}
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}
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else{
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if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() <angle +180){
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drivetrain.setControl(drive.withRotationalRate(0.5));
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}
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else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=angle +180){
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drivetrain.setControl(drive.withRotationalRate(-0.5));
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}
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}
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}
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}
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else{
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y = 0.639;
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x = 13.963;
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angle = 180;
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if(limelight3g.getV()){
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if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >175 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 185){
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if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
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drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
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}
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else{
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if(botx > 10){
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drivetrain.setControl(drive.withVelocityX(y-boty));
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}
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else{
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drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
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}
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}
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}
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else{
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if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
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drivetrain.setControl(drive.withRotationalRate(-0.5));
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}
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else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >=180){
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drivetrain.setControl(drive.withRotationalRate(0.5));
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}
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}
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}
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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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drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
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}
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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 (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
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}
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}
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