71 lines
2.8 KiB
Java
71 lines
2.8 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 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.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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/* 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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private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
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private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
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Pigeon2 pigeon2;
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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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// 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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BotPose = limeLight3.getBotPoseBlue();
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botx = BotPose[0];
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boty = BotPose[1];
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if(180-pigeon2.getYaw().getValueAsDouble() < 10 && 180- pigeon2.getYaw().getValueAsDouble() > -10){
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drivetrain.setControl(drive.withVelocityX(2.961328-boty).withVelocityY(1.11-botx));
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}
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else{
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drivetrain.setControl(drive.withRotationalRate(180-pigeon2.getYaw().getValueAsDouble()/45));
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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 (2.961328-boty < 0.05 || 2.961328-boty >-0.05) && (1.11-botx < 0.05 || 1.11-botx > -0.05);
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}
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}
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