PLS5618/Reefscape-2025
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elevateur va mieux

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This commit is contained in:
EdwardFaucher 2025-03-12 17:23:59 -04:00
parent 59a44ada9a
commit 398ea4ac82
2 changed files with 16 additions and 11 deletions
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25
src/main/java/frc/robot/RobotContainer.java
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@ -63,15 +63,16 @@ public class RobotContainer {
.withSize(2, 2).withProperties(Map.of("Label position", "LEFT")); .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
GenericEntry L1 = layoutauto.add("choix L1",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry(); GenericEntry L1 = layoutauto.add("choix L1",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry sortirAngle = layoutauto.add("Cote?",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry(); GenericEntry sortirAngle = layoutauto.add("Cote?",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry Reculer = layoutauto.add("Reculer",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry(); GenericEntry ReculerB = layoutauto.add("ReculerB",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry ReculerR = layoutauto.add("ReculerR",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry L4 = layoutauto.add("L4",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry(); GenericEntry L4 = layoutauto.add("L4",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
/* Setting up bindings for necessary control of the swerve drive platform */ /* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric() private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.Velocity .withDriveRequestType(DriveRequestType.OpenLoopVoltage
); // Use open-loop control for drive motors ); // Use open-loop control for drive motors
private final Telemetry logger = new Telemetry(MaxSpeed); private final Telemetry logger = new Telemetry(MaxSpeed);
@ -141,14 +142,14 @@ public class RobotContainer {
manette2.a().whileTrue(new Forme3(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)); manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
//Pince manuel //Pince manuel
pince.setDefaultCommand(new RunCommand(()->{ pince.setDefaultCommand(new RunCommand(()->{
pince.pivote(MathUtil.applyDeadband((manette2.getRightY()*manette2.getRightY()*manette2.getRightY())/3, 0.05)); pince.pivote(MathUtil.applyDeadband((manette2.getRightY()*manette2.getRightY()*manette2.getRightY())/3, 0.05));
}, pince)); }, pince));
//Elevateur manuel //Elevateur manuel
elevateur.setDefaultCommand(new RunCommand(()->{ elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05)); elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
}, elevateur)); }, elevateur));
//Reset encodeur //Reset encodeur
@ -158,11 +159,15 @@ public class RobotContainer {
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return new SequentialCommandGroup( return new SequentialCommandGroup(
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(-0.1*MaxSpeed) drive.withVelocityX(0.1*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3.5), .withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5),
drivetrain.applyRequest(()->
drive.withVelocityX(0.1*MaxSpeed)
.withVelocityY(0)
.withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(0.1*MaxSpeed) drive.withVelocityX(-0.1*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35), .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->

2
src/main/java/frc/robot/TunerConstants/TunerConstants.java
View File

@ -78,7 +78,7 @@ public class TunerConstants {
// Theoretical free speed (m/s) at 12 V applied output; // Theoretical free speed (m/s) at 12 V applied output;
// This needs to be tuned to your individual robot // This needs to be tuned to your individual robot
public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(5.21); public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(6);
// Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns; // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
// This may need to be tuned to your individual robot // This may need to be tuned to your individual robot