125 lines
4.4 KiB
Java
125 lines
4.4 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.MetersPerSecond;
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import static edu.wpi.first.units.Units.RadiansPerSecond;
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import static edu.wpi.first.units.Units.RotationsPerSecond;
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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.math.MathUtil;
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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.LimeLight3;
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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 GrimperMur extends Command {
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LimeLight3 limeLight3;
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CommandSwerveDrivetrain drivetrain;
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double[] BotPose = new double[6];
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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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double pigeonAngle;
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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 GrimperMur. */
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public GrimperMur(LimeLight3 limeLight3, CommandSwerveDrivetrain drivetrain) {
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this.drivetrain = drivetrain;
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this.limeLight3 = limeLight3;
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addRequirements(limeLight3,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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// if(drivetrain.Equipe()){
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// angle+=180;
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// }
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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(limeLight3.getV()){
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BotPose = limeLight3.getBotPoseBlue();
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botx = BotPose[0];
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boty = BotPose[1];
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if(angle < 0){
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angle = angle + 360;
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}
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if(alliance.get() == Alliance.Red){
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pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
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System.out.println(pigeonAngle);
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y = 2.6;
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x = 15.6;
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angle = 180;
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if(pigeonAngle< 190 && pigeonAngle> 170){
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drivetrain.setControl(drive.withVelocityY(MathUtil.clamp((-(y-boty)*6.5), -2, 2)).withVelocityX(MathUtil.clamp((-(x-botx)*6.5),-2,2)));
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}
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else{
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if(pigeonAngle>180){
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drivetrain.setControl(drive.withRotationalRate(-1));
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}
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else{
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drivetrain.setControl(drive.withRotationalRate(1));
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}
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}
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}
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else{
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pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble()+180;
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System.out.println(pigeonAngle);
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y = 5.2;
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x = 1.11;
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angle = 0;
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if(pigeonAngle> 358 || pigeonAngle< 2){
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drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)).withRotationalRate(0));
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}
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else{
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if(pigeonAngle>0 && pigeonAngle<180){
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drivetrain.setControl(drive.withRotationalRate(-1));
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System.out.println("x");
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}
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else if(pigeonAngle>180){
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System.out.println("e");
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drivetrain.setControl(drive.withRotationalRate(1));
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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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drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0).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.withVelocityX(0).withVelocityY(0).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 (y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05);
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}
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} |