132 lines
4.3 KiB
Java
132 lines
4.3 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.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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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 LimelighterAuto extends Command {
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Limelight3G limelight3g;
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CommandSwerveDrivetrain drivetrain;
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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 botx;
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double boty;
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double angle;
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double calcul;
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double x;
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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 Limelighter. */
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public LimelighterAuto(Limelight3G limelight3g, CommandSwerveDrivetrain drivetrain) {
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this.limelight3g = limelight3g;
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this.drivetrain = drivetrain;
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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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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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double[] BotPose = new double[6];
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System.out.println("e");
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if (limelight3g.getV()) {
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// BotPose = limelight3g.getBotPoseBlue();
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if (!alliance.isPresent()) {
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return;
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}
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if (alliance.get() == Alliance.Blue) {
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x = 4.6;
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BotPose = limelight3g.getBotPoseBlue();
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}
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else {
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x = 11.915394;
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BotPose = limelight3g.getBotPoseRed();
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}
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botx = BotPose[1];
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boty = BotPose[0];
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angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
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calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
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if(angle > 180){
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angle -= 360;
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}
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if(calcul > -5 && calcul < 5){
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drivetrain.setControl(
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drive.withRotationalRate(0));
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}
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else if(calcul > 5){
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drivetrain.setControl(
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drive.withRotationalRate(0.5*(2*Math.PI)));
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}
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else if(calcul < -5){
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drivetrain.setControl(
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drive.withRotationalRate(-0.5*(2*Math.PI)));
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}
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// if(calcul < -5 && calcul > -180){
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// drivetrain.setControl(
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// drive.withRotationalRate(0.5*(2*Math.PI)));
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// }
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// else if(calcul > 5 && calcul < 180){
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// drivetrain.setControl(
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// drive.withRotationalRate(-0.5*(2*Math.PI)));
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// }
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// else if(calcul >= 180){
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// drivetrain.setControl(
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// drive.withRotationalRate(-0.5*(2*Math.PI)));
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// }
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// else if(calcul <= -180){
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// drivetrain.setControl(
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// drive.withRotationalRate(0.5*(2*Math.PI)));
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// }
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// else{
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// drivetrain.setControl(
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// drive.withRotationalRate(0));
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// }
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// drivetrain.setControl(
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// drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
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// System.out.println(angle);
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// if (calcul < 0.2 && calcul > -0.2) {
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// drivetrain.setControl(drive.withRotationalRate(0));
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// }
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}
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else{
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drivetrain.setControl(drive.withRotationalRate(0));
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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.withRotationalRate(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 calcul > -5 && calcul < 5;
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}
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}
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