diff --git a/src/main/deploy/pathplanner/autos/BlueBas1.auto b/src/main/deploy/pathplanner/autos/BlueBas1.auto deleted file mode 100644 index 6b665ea..0000000 --- a/src/main/deploy/pathplanner/autos/BlueBas1.auto +++ /dev/null @@ -1,57 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueBas2.auto b/src/main/deploy/pathplanner/autos/BlueBas2.auto deleted file mode 100644 index 57d7bf7..0000000 --- a/src/main/deploy/pathplanner/autos/BlueBas2.auto +++ /dev/null @@ -1,151 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasChercher" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Station" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "path", - "data": { - "pathName": "BlueBasPorter" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueBas3 sans composantes.auto b/src/main/deploy/pathplanner/autos/BlueBas3 sans composantes.auto deleted file mode 100644 index febe7c4..0000000 --- a/src/main/deploy/pathplanner/autos/BlueBas3 sans composantes.auto +++ /dev/null @@ -1,126 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasChercher" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "path", - "data": { - "pathName": "BlueBasPorter" - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasChercher2" - } - }, - { - "type": "sequential", - "data": { - "commands": [] - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasPorter2" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueBas3.auto b/src/main/deploy/pathplanner/autos/BlueBas3.auto deleted file mode 100644 index fe42865..0000000 --- a/src/main/deploy/pathplanner/autos/BlueBas3.auto +++ /dev/null @@ -1,245 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasChercher" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Station" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralInspire" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "path", - "data": { - "pathName": "BlueBasPorter" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasChercher2" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "CoralInspire" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralInspire" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueBasPorter2" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueHaut1.auto b/src/main/deploy/pathplanner/autos/BlueHaut1.auto deleted file mode 100644 index 0fb9737..0000000 --- a/src/main/deploy/pathplanner/autos/BlueHaut1.auto +++ /dev/null @@ -1,32 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueHautStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueHaut2.auto b/src/main/deploy/pathplanner/autos/BlueHaut2.auto deleted file mode 100644 index f3cc72f..0000000 --- a/src/main/deploy/pathplanner/autos/BlueHaut2.auto +++ /dev/null @@ -1,151 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueHautStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueHautChercher" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Station" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralInspire" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "path", - "data": { - "pathName": "BlueHautPorter" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueHaut3.auto b/src/main/deploy/pathplanner/autos/BlueHaut3.auto deleted file mode 100644 index e492533..0000000 --- a/src/main/deploy/pathplanner/autos/BlueHaut3.auto +++ /dev/null @@ -1,245 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueHautStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueHautChercher" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Station" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralInspire" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "path", - "data": { - "pathName": "BlueHautPorter" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueHautChercher2" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Station" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralInspire" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueHautPorter2" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/MilieuAlgue.auto b/src/main/deploy/pathplanner/autos/MilieuAlgue.auto deleted file mode 100644 index f618a26..0000000 --- a/src/main/deploy/pathplanner/autos/MilieuAlgue.auto +++ /dev/null @@ -1,87 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueMilieuStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L3" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "CoraletAlgue" - } - } - ] - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto b/src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto deleted file mode 100644 index 999860b..0000000 --- a/src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto +++ /dev/null @@ -1,57 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "BlueMilieuStart" - } - }, - { - "type": "named", - "data": { - "name": "AprilTag" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "L4" - } - }, - { - "type": "named", - "data": { - "name": "CoralExpire" - } - } - ] - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto index 268147b..151cc51 100644 --- a/src/main/deploy/pathplanner/autos/New Auto.auto +++ b/src/main/deploy/pathplanner/autos/New Auto.auto @@ -9,6 +9,25 @@ "data": { "pathName": "New Path" } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "AprilTag" + } + } + ] + } } ] } diff --git a/src/main/deploy/pathplanner/autos/Sortir.auto b/src/main/deploy/pathplanner/autos/Sortir.auto deleted file mode 100644 index aaa5f9f..0000000 --- a/src/main/deploy/pathplanner/autos/Sortir.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "path", - "data": { - "pathName": "Sortir" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/baleeuse.auto b/src/main/deploy/pathplanner/autos/baleeuse.auto deleted file mode 100644 index c8d8f22..0000000 --- a/src/main/deploy/pathplanner/autos/baleeuse.auto +++ /dev/null @@ -1,63 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "New Path" - } - }, - { - "type": "wait", - "data": { - "waitTime": 2.0 - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 2.0 - } - }, - { - "type": "named", - "data": { - "name": "baleeuse" - } - } - ] - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 2.0 - } - }, - { - "type": "named", - "data": { - "name": "baleeuse sort" - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueBasChercher.path b/src/main/deploy/pathplanner/paths/BlueBasChercher.path deleted file mode 100644 index be8a2f6..0000000 --- a/src/main/deploy/pathplanner/paths/BlueBasChercher.path +++ /dev/null @@ -1,70 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 5.226639344262295, - "y": 2.748309426229507 - }, - "prevControl": null, - "nextControl": { - "x": 4.699180327868851, - "y": 2.1728995901639334 - }, - "isLocked": true, - "linkedName": null - }, - { - "anchor": { - "x": 3.296618852459016, - "y": 1.6334528688524586 - }, - "prevControl": { - "x": 4.5553278688524586, - "y": 1.9091700819672122 - }, - "nextControl": { - "x": 2.853313965378558, - "y": 1.5363479888253109 - }, - "isLocked": true, - "linkedName": null - }, - { - "anchor": { - "x": 1.2227459016393443, - "y": 1.141956967213115 - }, - "prevControl": { - "x": 2.2217919676666584, - "y": 1.3902362024139756 - }, - "nextControl": null, - "isLocked": true, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -125.00000000000001 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 119.99999999999999 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueBasChercher2.path b/src/main/deploy/pathplanner/paths/BlueBasChercher2.path deleted file mode 100644 index 9216503..0000000 --- a/src/main/deploy/pathplanner/paths/BlueBasChercher2.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.7761270491803276, - "y": 2.7602971311475404 - }, - "prevControl": null, - "nextControl": { - "x": 3.152766393442623, - "y": 1.2138831967213104 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.1987704918032787, - "y": 1.153944672131147 - }, - "prevControl": { - "x": 2.049897540983607, - "y": 1.1899077868852443 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -125.00000000000001 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 59.99999999999999 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueBasPorter.path b/src/main/deploy/pathplanner/paths/BlueBasPorter.path deleted file mode 100644 index 8157caa..0000000 --- a/src/main/deploy/pathplanner/paths/BlueBasPorter.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - 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"version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.300512295081968, - "y": 3.971055327868852 - }, - "prevControl": null, - "nextControl": { - "x": 6.294286688638351, - "y": 3.9754565484205786 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.9818647540983605, - "y": 3.971055327868852 - }, - "prevControl": { - "x": 6.956229117816136, - "y": 3.9576132249181755 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 180.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path index d23e318..606794a 100644 --- a/src/main/deploy/pathplanner/paths/New Path.path +++ b/src/main/deploy/pathplanner/paths/New Path.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 16.243, - "y": 6.55025 + "x": 14.0, + "y": 3.0 }, "prevControl": null, "nextControl": { - "x": 15.354412756981612, - "y": 6.548572497113415 + "x": 13.971750000000002, + "y": 4.727 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.3552499999999998, - "y": 6.55025 + "x": 14.0, + "y": 5.0 }, "prevControl": { - "x": 2.306674365666888, - "y": 6.526815183428469 + "x": 13.9815, + "y": 3.7562499999999996 }, "nextControl": null, "isLocked": false, @@ -30,18 +30,29 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], + "pointTowardsZones": [ + { + "fieldPosition": { + "x": 11.9, + "y": 4.0 + }, + "rotationOffset": 180.0, + "minWaypointRelativePos": 0.0, + "maxWaypointRelativePos": 1.0, + "name": "Point Towards Zone" + } + ], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 1.0, "maxAcceleration": 1.0, - "maxAngularVelocity": 0.1, - "maxAngularAcceleration": 0.1, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false }, "goalEndState": { - "velocity": 0.0, + "velocity": 0, "rotation": 0.0 }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Sortir.path b/src/main/deploy/pathplanner/paths/Sortir.path deleted file mode 100644 index 56a8491..0000000 --- a/src/main/deploy/pathplanner/paths/Sortir.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.504303278688524, - "y": 6.464497950819672 - }, - "prevControl": null, - "nextControl": { - "x": 7.119564732833961, - "y": 6.478684258786044 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.815652951699465, - "y": 6.464497950819672 - }, - "prevControl": { - "x": 6.633711863494241, - "y": 6.455611583097 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 1.0, - "maxAngularVelocity": 50.0, - "maxAngularAcceleration": 100.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 180.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": false -} \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5f2d11d..e1f8182 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -98,7 +98,9 @@ public class RobotContainer { autoChooser = AutoBuilder.buildAutoChooser(); CameraServer.startAutomaticCapture(); SmartDashboard.putData("Auto Chooser", autoChooser); - //NamedCommands.registerCommand("AprilTag", new AprilTag3(limelight3, drivetrain,, null)); + NamedCommands.registerCommand("AprilTag", new AprilTag3(limelight3,drivetrain)); + NamedCommands.getCommand("AprilTag"); + NamedCommands.registerCommand("L2", new L2(elevateur, pince)); configureBindings(); } @@ -142,7 +144,7 @@ public class RobotContainer { //limelight manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); - manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY)); + manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain)); //Pince manuel pince.setDefaultCommand(new RunCommand(()->{ diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java index 2b79d99..6d159b0 100644 --- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java +++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java @@ -8,9 +8,11 @@ import static edu.wpi.first.units.Units.*; import java.util.Optional; import java.util.function.DoubleSupplier; +import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest; import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveRequest; import edu.wpi.first.math.filter.SlewRateLimiter; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.MathUtil; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.DriverStation.Alliance; @@ -33,7 +35,7 @@ public class AprilTag3 extends Command { .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors /** Creates a new AprilTag3G. */ - public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain, DoubleSupplier x, DoubleSupplier y) { + public AprilTag3(Limelight3 limelight3,CommandSwerveDrivetrain drivetrain) { this.limelight3 = limelight3; this.drivetrain = drivetrain; this.x = x; @@ -58,7 +60,7 @@ public class AprilTag3 extends Command { double x2 = 0; double angle = drivetrain.getPigeon2().getYaw().getValueAsDouble(); if(angle >180){ - angle =- angle * 2; + angle =- 360; } if(alliance.get() == DriverStation.Alliance.Red){ BotPose = limelight3.getBotPoseRed(); @@ -76,8 +78,8 @@ public class AprilTag3 extends Command { if(limelight3.getV() == true){ drivetrain.setControl(drive. withRotationalRate(limelight3.Calcule(botx,x2,boty,y2,angle)). - withVelocityX(x.getAsDouble()). - withVelocityY(y.getAsDouble())); + withVelocityX(0). + withVelocityY(0)); // if(tagId ==10){ // drivetrain.setControl(drive. // withRotationalRate(tx/20).