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:
Antoine PerreaultE
2025-11-24 18:36:50 -05:00
parent 1bf8f02db2 9e16c18d31
commit 9911ae781a
3 changed files with 72 additions and 64 deletions
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2
src/main/deploy/pathplanner/navgrid.json
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68
src/main/java/frc/robot/RobotContainer.java
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@@ -10,6 +10,8 @@ import java.util.Map;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType; import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.hardware.Pigeon2; import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveRequest; import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.cameraserver.CameraServer; import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil; import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose2d;
@@ -18,6 +20,8 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets; import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; 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.Command;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
@@ -59,6 +63,7 @@ import frc.robot.commands.Elevateur.balonL2;
import frc.robot.commands.Elevateur.balonL3; import frc.robot.commands.Elevateur.balonL3;
public class RobotContainer { public class RobotContainer {
private final SendableChooser<Command> autoChooser;
ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList) ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
.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();
@@ -95,7 +100,9 @@ public class RobotContainer {
Requin requin = new Requin(); Requin requin = new Requin();
CorailAspir corailAspir = new CorailAspir(pince, bougie); CorailAspir corailAspir = new CorailAspir(pince, bougie);
public RobotContainer() { public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser();
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
SmartDashboard.putData("Auto Chooser", autoChooser);
configureBindings(); configureBindings();
} }
@@ -157,34 +164,35 @@ public class RobotContainer {
} }
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return new SequentialCommandGroup( return autoChooser.getSelected();
drivetrain.applyRequest(()-> // return new SequentialCommandGroup(
drive.withVelocityX(0.1*MaxSpeed) // drivetrain.applyRequest(()->
.withVelocityY(0) // drive.withVelocityX(0.1*MaxSpeed)
.withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5), // .withVelocityY(0)
drivetrain.applyRequest(()-> // .withRotationalRate(0)).unless(()->!ReculerR.getBoolean(true)).withTimeout(3.5),
drive.withVelocityX(-0.1*MaxSpeed) // drivetrain.applyRequest(()->
.withVelocityY(0) // drive.withVelocityX(-0.1*MaxSpeed)
.withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5), // .withVelocityY(0)
drivetrain.applyRequest(()-> // .withRotationalRate(0)).unless(()->!ReculerB.getBoolean(true)).withTimeout(3.5),
drive.withVelocityX(-0.1*MaxSpeed) // drivetrain.applyRequest(()->
.withVelocityY(0) // drive.withVelocityX(-0.1*MaxSpeed)
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35), // .withVelocityY(0)
drivetrain.applyRequest(()-> // .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2.35),
drive.withVelocityX(0.1*MaxSpeed) // drivetrain.applyRequest(()->
.withVelocityY(0) // drive.withVelocityX(0.1*MaxSpeed)
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerR.getBoolean(true)).withTimeout(3), // .withVelocityY(0)
drivetrain.applyRequest(()-> // .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerR.getBoolean(true)).withTimeout(3),
drive.withVelocityX(-0.1*MaxSpeed) // drivetrain.applyRequest(()->
.withVelocityY(0) // drive.withVelocityX(-0.1*MaxSpeed)
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3), // .withVelocityY(0)
drivetrain.applyRequest(()-> // .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)|| !ReculerB.getBoolean(true)).withTimeout(3),
drive.withVelocityX(0) // drivetrain.applyRequest(()->
.withVelocityY(0) // drive.withVelocityX(0)
.withRotationalRate(0)).withTimeout(0.1), // .withVelocityY(0)
new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4), // .withRotationalRate(0)).withTimeout(0.1),
new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2), // new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2), // new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2),
new RainBow(bougie)); // new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2),
} // new RainBow(bougie));
}
} }

66
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -45,42 +45,42 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains(); private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation(); private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
// private void configureAutoBuilder() { private void configureAutoBuilder() {
// try { try {
// var config = RobotConfig.fromGUISettings(); var config = RobotConfig.fromGUISettings();
// AutoBuilder.configure( AutoBuilder.configure(
// () -> getState().Pose, // Supplier of current robot pose () -> getState().Pose, // Supplier of current robot pose
// this::resetPose, // Consumer for seeding pose against auto this::resetPose, // Consumer for seeding pose against auto
// () -> getState().Speeds, // Supplier of current robot speeds () -> getState().Speeds, // Supplier of current robot speeds
// // Consumer of ChassisSpeeds and feedforwards to drive the robot // Consumer of ChassisSpeeds and feedforwards to drive the robot
// (speeds, feedforwards) -> setControl( (speeds, feedforwards) -> setControl(
// m_pathApplyRobotSpeeds.withSpeeds(speeds) m_pathApplyRobotSpeeds.withSpeeds(speeds)
// .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons()) .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
// .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons()) .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
// ), ),
// new PPHolonomicDriveController( new PPHolonomicDriveController(
// // PID constants for translation // PID constants for translation
// new PIDConstants(63.167, 0, 0.54521), new PIDConstants(63.167, 0, 0.54521),
// // // PID constants for rotation // // PID constants for rotation
// // new PIDConstants(7.9735, 0, 0.038499) // new PIDConstants(7.9735, 0, 0.038499)
// // PID constants for rotation // PID constants for rotation
// new PIDConstants(43.502,0,2.7353) new PIDConstants(43.502,0,2.7353)
// ), ),
// config, config,
// // Assume the path needs to be flipped for Red vs Blue, this is normally the case // Assume the path needs to be flipped for Red vs Blue, this is normally the case
// () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red, () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
// this // Subsystem for requirements this // Subsystem for requirements
// ); );
// } catch (Exception ex) { } catch (Exception ex) {
// DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace()); DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
// } }
// PPHolonomicDriveController.overrideRotationFeedback(()->{ PPHolonomicDriveController.overrideRotationFeedback(()->{
// return 0; return 0;
// }); });
// } }
/** /**
* Constructs a CTRE SwerveDrivetrain using the specified constants. * Constructs a CTRE SwerveDrivetrain using the specified constants.