changement limelight

src/main/deploy/pathplanner/autos/BlueBas1.auto

@@ -5,7 +5,7 @@
     "data": {
       "commands": [
         {
-          "type": "sequential",
+          "type": "parallel",
           "data": {
             "commands": [
               {

src/main/deploy/pathplanner/settings.json

@@ -9,12 +9,12 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 74.088,
+  "robotMass": 45.3592,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.048,
   "driveGearing": 5.143,
-  "maxDriveSpeed": 5.0,
+  "maxDriveSpeed": 5.261,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 60.0,
   "wheelCOF": 1.2,

src/main/java/frc/robot/RobotContainer.java

@@ -5,33 +5,23 @@
 package frc.robot;
 
 import static edu.wpi.first.units.Units.*;
-
 import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.hardware.Pigeon2;
-import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
 import com.pathplanner.lib.util.FlippingUtil;
-
-import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 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.Commands;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
-
 import frc.robot.TunerConstants.TunerConstants;
 import frc.robot.commands.AprilTag3;
 import frc.robot.commands.AprilTag3G;
@@ -39,11 +29,9 @@ import frc.robot.commands.Forme3;
 import frc.robot.commands.RainBow;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
-import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Limelight3;
 import frc.robot.subsystems.Limelight3G;
 
-
 public class RobotContainer {
     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
@@ -88,7 +76,6 @@ public class RobotContainer {
             )
         );
 
-
         // reset the field-centric heading on left bumper press
         manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
         manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
@@ -97,19 +84,16 @@ public class RobotContainer {
         drivetrain.registerTelemetry(logger::telemeterize);
     }
 
-
+    public Command getAutonomousCommand() {
-        public Command getAutonomousCommand() {
+        return new SequentialCommandGroup(Commands.runOnce(()->{
-            return new SequentialCommandGroup(Commands.runOnce(()->{
+            boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
-                boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
+            if(flip){
-                if(flip){
+                drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
-                    drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
+            }
-                }
+            else{
-                else{
+                drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
-                    drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
+            }
-                }
+        }),autoChooser.getSelected(), new RainBow(bougie));
-            }),autoChooser.getSelected(), new RainBow(bougie));
-          
-             
     }
              
-}
+}

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -3,19 +3,15 @@ package frc.robot.subsystems;
 import static edu.wpi.first.units.Units.*;
 
 import java.util.function.Supplier;
-
 import com.ctre.phoenix6.SignalLogger;
 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;
-
 import com.pathplanner.lib.auto.AutoBuilder;
 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.Rotation2d;
 import edu.wpi.first.math.numbers.N1;
@@ -140,8 +136,11 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         } catch (Exception ex) {
             DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
         }
-    }
+         PPHolonomicDriveController.overrideRotationFeedback(()->{
-    
+            return 0;
+         });  
+        }
+ 
     /* The SysId routine to test */
     private SysIdRoutine m_sysIdRoutineToApply = m_sysIdRoutineTranslation;