92 lines
3.0 KiB
Java
92 lines
3.0 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;
|
|
|
|
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
|
|
import com.ctre.phoenix6.swerve.SwerveRequest;
|
|
|
|
import edu.wpi.first.wpilibj.Timer;
|
|
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.*;
|
|
|
|
/* 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 Limelighter extends Command {
|
|
Timer timer;
|
|
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;
|
|
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
|
|
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
|
|
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
|
|
|
|
/** Creates a new Limelighter. */
|
|
public Limelighter(Limelight3G limelight3g, CommandSwerveDrivetrain drivetrain) {
|
|
this.limelight3g = limelight3g;
|
|
this.drivetrain = drivetrain;
|
|
addRequirements(drivetrain, limelight3g);
|
|
timer = new Timer();
|
|
// Use addRequirements() here to declare subsystem dependencies.
|
|
}
|
|
|
|
// Called when the command is initially scheduled.
|
|
@Override
|
|
public void initialize() {
|
|
timer.reset();
|
|
}
|
|
|
|
// Called every time the scheduler runs while the command is scheduled.
|
|
@Override
|
|
public void execute() {
|
|
double[] BotPose = new double[6];
|
|
if (limelight3g.getV()) {
|
|
BotPose = limelight3g.getBotPoseBlue();
|
|
botx = BotPose[1];
|
|
boty = BotPose[0];
|
|
angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
|
|
if(angle >180){
|
|
angle =- 360;
|
|
}
|
|
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;
|
|
drivetrain.setControl(
|
|
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
|
|
System.out.println(calcul);
|
|
if (calcul < 0.2 && calcul > -0.2) {
|
|
// timer.start();
|
|
// } else {
|
|
// timer.reset();
|
|
// }
|
|
// } else {
|
|
// timer.stop();
|
|
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));
|
|
timer.stop();
|
|
}
|
|
|
|
// Returns true when the command should end.
|
|
@Override
|
|
public boolean isFinished() {
|
|
return false;
|
|
}
|
|
}
|