PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
Samuel
2025-12-12 11:09:54 -05:00
parent efd3f23fa2 7032b95c60
commit 2b5a298433
7 changed files with 169 additions and 91 deletions
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6
src/main/deploy/pathplanner/paths/BlueBasChercher.path
View File

@@ -11,7 +11,7 @@
"x": 4.699180327868851,
"y": 2.1728995901639334
},
"isLocked": false,
"isLocked": true,
"linkedName": null
},
{
@@ -27,7 +27,7 @@
"x": 2.853313965378558,
"y": 1.5363479888253109
},
"isLocked": false,
"isLocked": true,
"linkedName": null
},
{
@@ -40,7 +40,7 @@
"y": 1.3902362024139756
},
"nextControl": null,
"isLocked": false,
"isLocked": true,
"linkedName": null
}
],

10
src/main/deploy/pathplanner/paths/New Path.path
View File

@@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 16.243499999999997,
"x": 16.243,
"y": 6.55025
},
"prevControl": null,
"nextControl": {
"x": 15.18625440479427,
"y": 6.55025
"x": 15.354412756981612,
"y": 6.548572497113415
},
"isLocked": false,
"linkedName": null
@@ -20,8 +20,8 @@
"y": 6.55025
},
"prevControl": {
"x": 2.34525,
"y": 6.55025
"x": 2.306674365666888,
"y": 6.526815183428469
},
"nextControl": null,
"isLocked": false,

13
src/main/java/frc/robot/RobotContainer.java
View File

@@ -14,7 +14,6 @@ import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
@@ -23,12 +22,9 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.RainBow;
import frc.robot.commands.reset;
import frc.robot.commands.Elevateur.Depart;
import frc.robot.commands.Elevateur.ElevateurManuel;
@@ -96,7 +92,6 @@ public class RobotContainer {
Bougie bougie = new Bougie();
Limelight3G limelight3g = new Limelight3G();
Limelight3 limelight3 = new Limelight3();
Pose2d pose = new Pose2d();
Requin requin = new Requin();
CorailAspir corailAspir = new CorailAspir(pince, bougie);
public RobotContainer() {
@@ -107,7 +102,6 @@ public class RobotContainer {
}
private void configureBindings() {
drivetrain.registerTelemetry(logger::telemeterize);
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
@@ -122,7 +116,7 @@ public class RobotContainer {
manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
manette1.rightBumper().toggleOnTrue(new StationPince(pince, elevateur,bougie));
manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie));
manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
// manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain1,manette1::getLeftX,manette1::getLeftY));
manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
manette1.leftTrigger().whileTrue(new DepartPince(pince));
manette1.povDown().whileTrue(new Algue_inspire(pince,bougie));
@@ -146,8 +140,8 @@ public class RobotContainer {
manette2.x().whileTrue(new ExpireCorail(requin, bougie));
//limelight
manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
// manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
// manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
//Pince manuel
pince.setDefaultCommand(new RunCommand(()->{
@@ -161,6 +155,7 @@ public class RobotContainer {
//Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince, requin));
drivetrain.registerTelemetry(logger::telemeterize);
}
public Command getAutonomousCommand() {

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{

104
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
View File

@@ -1,8 +1,8 @@
package frc.robot.subsystems;
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.SwerveModuleConstants;
import com.ctre.phoenix6.swerve.SwerveRequest;
@@ -11,9 +11,9 @@ import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.wpilibj.DriverStation;
@@ -39,46 +39,88 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg;
/* Keep track if we've ever applied the operator perspective before or not */
private boolean m_hasAppliedOperatorPerspective = false;
private SwerveDriveOdometry odometry;
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);
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private void configureAutoBuilder() {
try {
RobotConfig config = RobotConfig.fromGUISettings();
AutoBuilder.configure(
() -> getState().Pose, // Supplier of current robot pose
this::resetOdometry, // Consumer for seeding pose against auto
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())
m_pathApplyRobotSpeeds.withSpeeds(ChassisSpeeds.discretize(speeds, 0.020))
.withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
.withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
),
new PPHolonomicDriveController(
// PID constants for translation
new PIDConstants(5, 0, 0),
// // PID constants for rotation
// new PIDConstants(7.9735, 0, 0.038499)
new PIDConstants(10, 0, 0),
// PID constants for rotation
new PIDConstants(5,0,0)
new PIDConstants(7, 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;
});
}
// 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
// );
// } 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>
@@ -97,27 +139,7 @@ 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
);
this.getPigeon2().setYaw(pose.getRotation().getDegrees());
configureAutoBuilder();
}
/**
* Constructs a CTRE SwerveDrivetrain using the specified constants.

8
vendordeps/PathplannerLib-2025.2.3.json → vendordeps/PathplannerLib-2025.2.6.json
View File

@@ -1,7 +1,7 @@
{
"fileName": "PathplannerLib-2025.2.3.json",
"fileName": "PathplannerLib-2025.2.6.json",
"name": "PathplannerLib",
"version": "2025.2.3",
"version": "2025.2.6",
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
"frcYear": "2025",
"mavenUrls": [
@@ -12,7 +12,7 @@
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-java",
"version": "2025.2.3"
"version": "2025.2.6"
}
],
"jniDependencies": [],
@@ -20,7 +20,7 @@
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-cpp",
"version": "2025.2.3",
"version": "2025.2.6",
"libName": "PathplannerLib",
"headerClassifier": "headers",
"sharedLibrary": false,

118
vendordeps/Phoenix6-25.2.2.json → vendordeps/Phoenix6-frc2025-latest.json
View File

@@ -1,7 +1,7 @@
{
"fileName": "Phoenix6-25.2.2.json",
"fileName": "Phoenix6-frc2025-latest.json",
"name": "CTRE-Phoenix (v6)",
"version": "25.2.2",
"version": "25.4.0",
"frcYear": "2025",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
@@ -19,14 +19,14 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "25.2.2"
"version": "25.4.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "api-cpp",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -40,7 +40,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -54,7 +54,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "api-cpp-sim",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -68,7 +68,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -82,7 +82,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -96,7 +96,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -110,7 +110,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -124,7 +124,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -138,7 +138,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -152,7 +152,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -166,7 +166,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -180,7 +180,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -194,7 +194,35 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "25.2.2",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "25.4.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
@@ -210,7 +238,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-cpp",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -226,7 +254,7 @@
{
"groupId": "com.ctre.phoenix6",
"artifactId": "tools",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -242,7 +270,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "wpiapi-cpp-sim",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_Phoenix6_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -258,7 +286,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "tools-sim",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_PhoenixTools_Sim",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -274,7 +302,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -290,7 +318,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -306,7 +334,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -322,7 +350,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simCANCoder",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimCANCoder",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -338,7 +366,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -354,7 +382,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -370,7 +398,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -386,7 +414,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -402,7 +430,7 @@
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "25.2.2",
"version": "25.4.0",
"libName": "CTRE_SimProCANrange",
"headerClassifier": "headers",
"sharedLibrary": true,
@@ -414,6 +442,38 @@
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "25.4.0",
"libName": "CTRE_SimProCANdi",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "25.4.0",
"libName": "CTRE_SimProCANdle",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}