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mode auto dans subsystem fini

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This commit is contained in:
Antoine PerreaultE
2025-12-08 18:29:44 -05:00
parent cf2580ca85
commit 0f9a71c375
4 changed files with 111 additions and 66 deletions
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1
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
View File

@@ -76,6 +76,7 @@ public class AprilTag3 extends Command {
withRotationalRate(tx/20).
withVelocityX(2-botx).
withVelocityY(2-boty));
}
}
else{

164
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
View File

@@ -1,9 +1,12 @@
package frc.robot.subsystems;
import static edu.wpi.first.units.Units.MetersPerSecond;
import java.util.function.Supplier;
import com.ctre.phoenix6.Utils;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
@@ -14,7 +17,11 @@ import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.wpilibj.DriverStation;
@@ -23,6 +30,7 @@ import edu.wpi.first.wpilibj.Notifier;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Subsystem;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.TunerConstants.TunerConstants.TunerSwerveDrivetrain;
/**
@@ -44,51 +52,71 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private SwerveDriveOdometry odometry;
private SwerveDrivePoseEstimator poseEstimator;
private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
// Position des modules par rapport au centre du robot
Translation2d frontLeftLocation = new Translation2d(+0.3, +0.3);
Translation2d frontRightLocation = new Translation2d(+0.3, -0.3);
Translation2d backLeftLocation = new Translation2d(-0.3, +0.3);
Translation2d backRightLocation = new Translation2d(-0.3, -0.3);
private final SwerveDriveKinematics kinematics =
new SwerveDriveKinematics(
frontLeftLocation,
frontRightLocation,
backLeftLocation,
backRightLocation
);
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
public void resetPose(Pose2d newPose) {
getState().Pose = newPose; // ou appelle setPose(newPose) selon ton code
}//ca marche pas
private void configureAutoBuilder() {
try {
var config = RobotConfig.fromGUISettings();
AutoBuilder.configure(
() -> getState().Pose, // Supplier of current robot pose
this::resetOdometry, // Consumer for seeding pose against auto
() -> getState().Speeds, // Supplier of current robot speeds
// private void configureAutoBuilder() {
// try {
// var config = RobotConfig.fromGUISettings();
// AutoBuilder.configure(
// () -> getState().Pose, // Supplier of current robot pose
// this::resetPose, // Consumer for seeding pose against auto
// () -> getState().Speeds, // Supplier of current robot speeds
// Consumer of ChassisSpeeds and feedforwards to drive the robot
(speeds, feedforwards) -> setControl(
m_pathApplyRobotSpeeds.withSpeeds(speeds)
.withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
.withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
),
new PPHolonomicDriveController(
// PID constants for translation
new PIDConstants(5, 0, 0),
// // PID constants for rotation
// new PIDConstants(7.9735, 0, 0.038499)
// PID constants for rotation
new PIDConstants(5,0,0)
),
config,
// Assume the path needs to be flipped for Red vs Blue, this is normally the case
() -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
this // Subsystem for requirements
// // Consumer of ChassisSpeeds and feedforwards to drive the robot
// (speeds, feedforwards) -> setControl(
// m_pathApplyRobotSpeeds.withSpeeds(speeds)
// .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
// .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
// ),
// new PPHolonomicDriveController(
// // PID constants for translation
// new PIDConstants(5, 0, 0),
// // // PID constants for rotation
// // new PIDConstants(7.9735, 0, 0.038499)
// // PID constants for rotation
// new PIDConstants(5,0,0)
// ),
// config,
// // Assume the path needs to be flipped for Red vs Blue, this is normally the case
// () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
// this // Subsystem for requirements
);
} catch (Exception ex) {
DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
}
PPHolonomicDriveController.overrideRotationFeedback(()->{
return 0;
});
}
// );
// } catch (Exception ex) {
// DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
// }
// PPHolonomicDriveController.overrideRotationFeedback(()->{
// return 0;
// });
// }
// public void driveRobotRelative(ChassisSpeeds speeds) {
// // Convertir robot-relative ChassisSpeeds → SwerveModuleStates
// SwerveModuleState[] states = kinematics.toSwerveModuleStates(speeds);
// // Limitations des roues
// SwerveDriveKinematics.desaturateWheelSpeeds(states, TunerConstants.kSpeedAt12Volts);
// // Envoi aux modules
// frontLeft.setDesiredState(states[0]);
// frontRight.setDesiredState(states[1]);
// backLeft.setDesiredState(states[2]);
// backRight.setDesiredState(states[3]);
// }
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.
* <p>
@@ -107,27 +135,43 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
if (Utils.isSimulation()) {
startSimThread();
}
configureAutoBuilder();
}
// public void resetPose(Pose2d pose) {
// // Reset gyro to match starting rotation
// pigeon2.setYaw(pose.getRotation().getDegrees());
// // Reset odometry
// m_odometry.resetPosition(
// pose.getRotation(),
// getState().ModulePositions,
// pose
// );
//}
public void resetOdometry(Pose2d pose) {
odometry = new SwerveDriveOdometry(getKinematics(), kBlueAlliancePerspectiveRotation, getState().ModulePositions);
odometry.resetPosition(
getPigeon2().getRotation2d(),
getState().ModulePositions,
pose
RobotConfig config;
System.out.println("avant le mode auto est genere");
try{
config = RobotConfig.fromGUISettings();
SwerveRequest.ApplyRobotSpeeds driveAuto = new SwerveRequest.ApplyRobotSpeeds().withDriveRequestType(DriveRequestType.OpenLoopVoltage);
// Configure AutoBuilder last
AutoBuilder.configure(
() -> getState().Pose, // Robot pose supplier
this::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)
() -> getState().Speeds, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
(speeds, feedforwards) -> this.applyRequest(()-> driveAuto.withSpeeds(speeds)), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains
new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
),
config, // The robot configuration
() -> {
// Boolean supplier that controls when the path will be mirrored for the red alliance
// This will flip the path being followed to the red side of the field.
// THE ORIGIN WILL REMAIN ON THE BLUE SIDE
var alliance = DriverStation.getAlliance();
if (alliance.isPresent()) {
return alliance.get() == DriverStation.Alliance.Red;
}
return false;
},
this // Reference to this subsystem to set requirements
);
this.getPigeon2().setYaw(pose.getRotation().getDegrees());
System.out.println("le mode auto est genere");
}
catch (Exception e) {
// Handle exception as needed
e.printStackTrace();
System.out.println("le mode auto ne marche pas");
}
// configureAutoBuilder();
}
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -151,7 +195,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
if (Utils.isSimulation()) {
startSimThread();
}
// configureAutoBuilder();
// configureAutoBuilder();
}
/**
@@ -184,7 +228,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
if (Utils.isSimulation()) {
startSimThread();
}
configureAutoBuilder();
// configureAutoBuilder();
}