PLS5618/Reefscape-2025
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valeurs encodeurs, sequance, touche, quelque test amperage

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This commit is contained in:
Antoine PerreaultE
2025-03-03 20:32:11 -05:00
parent 263caa4d85
commit 9f4142d7aa
15 changed files with 168 additions and 113 deletions
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7
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -41,6 +41,9 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
/* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
private void configureAutoBuilder() {
try {
@@ -58,8 +61,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
new PPHolonomicDriveController(
// PID constants for translation
new PIDConstants(63.167, 0, 0.54521),
// // PID constants for rotation
// new PIDConstants(7.9735, 0, 0.038499)
// PID constants for rotation
new PIDConstants(7.9735, 0, 0.038499)
new PIDConstants(43.502,0,2.7353)
),
config,
// Assume the path needs to be flipped for Red vs Blue, this is normally the case

6
src/main/java/frc/robot/subsystems/Elevateur.java
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@@ -29,6 +29,8 @@ public class Elevateur extends SubsystemBase {
teb.add("encodeurelevateursationbas", -0.5).getEntry();
private GenericEntry encodeurelevateurstationhaut =
teb.add("encodeurelevateursationhaut", -0.4).getEntry();
private GenericEntry distanceDeploiePince =
teb.add("encodeurDeploiePince", 0.2).getEntry();
public Elevateur() {
teb.addDouble("encodeur elevateur",this::position);
@@ -84,6 +86,10 @@ public class Elevateur extends SubsystemBase {
public double encodeurelevateurstationhaut(){
return encodeurelevateurstationhaut.getDouble(-0.4);
}
public double distanceDeploiePince(){
return distanceDeploiePince.getDouble(0.2);
}
@Override
public void periodic() {