105 lines
3.1 KiB
Java
105 lines
3.1 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;
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import edu.wpi.first.math.controller.PIDController;
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import edu.wpi.first.wpilibj.Timer;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc.robot.subsystems.Balayeuse;
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import frc.robot.subsystems.Lanceur;
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import frc.robot.subsystems.Led;
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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 Lancer extends Command {
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private Lanceur lanceur;
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private PIDController pidController;
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private Limelight3G limeLight3G;
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private Timer timer;
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private Balayeuse balayeuse;
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private Led led;
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private double temp;
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/** Creates a new Lancer. */
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public Lancer(Lanceur lanceur, Limelight3G limeLight3G, Balayeuse balayeuse,Led led) {
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this.lanceur = lanceur;
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this.balayeuse = balayeuse;
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this.led = led;
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this.timer = new Timer();
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this.limeLight3G = new Limelight3G();
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addRequirements(lanceur, balayeuse, led, limeLight3G);
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this.temp = 0;
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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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pidController = new PIDController(1, 0,0, 0);
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timer.reset();
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timer.start();
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temp = lanceur.Amp();
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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 botx = 0;
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double boty = 0;
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double[] BotPose = new double[6];
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if(limeLight3G.getV()){
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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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}
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int nbFois = 0;
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double moyenneAmp = 0;
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if(timer.get() < 3){
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nbFois++;
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moyenneAmp += balayeuse.Amp() / nbFois;
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}
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else{
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nbFois++;
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moyenneAmp -= temp;
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moyenneAmp += balayeuse.Amp() / nbFois;
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temp = balayeuse.Amp();
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}
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// if(moyenneAmp > lanceur.AmpBas() && nbFois > 10){
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timer.reset();
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balayeuse.Balayer(-0.5);
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// led.Jaune2();
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// }
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// else{
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double vitesse = 0.5;
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if(limeLight3G.getV()){
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//pythagore |
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// \/
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vitesse = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
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}
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double output = vitesse; /*pidController.calculate(lanceur.Vitesse(),vitesse);*/
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lanceur.Lancer(output);
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if(lanceur.Vitesse() >= vitesse){
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lanceur.Demeler(0.1);
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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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lanceur.Demeler(0);
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lanceur.Lancer(0);
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balayeuse.Pivoter(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 false;
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}
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}
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