valeurs encodeurs, sequance, touche, quelque test amperage

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

@@ -17,21 +17,41 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "baleeuse"
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "baleeuse"
+                }
+              }
+            ]
           }
         },
         {
-          "type": "wait",
+          "type": "deadline",
           "data": {
-            "waitTime": 2.0
+            "commands": [
-          }
+              {
-        },
+                "type": "wait",
-        {
+                "data": {
-          "type": "named",
+                  "waitTime": 2.0
-          "data": {
+                }
-            "name": "baleeuse sort"
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "baleeuse sort"
+                }
+              }
+            ]
           }
         }
       ]

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

@@ -12,14 +12,20 @@ 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.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 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.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -81,7 +87,7 @@ public class RobotContainer {
   public double getAngle() {
     return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
   }
-  
+
   Elevateur elevateur = new Elevateur();
   Pince pince = new Pince();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -94,44 +100,49 @@ public class RobotContainer {
   Requin requin = new Requin();
   CorailAspir corailAspir = new CorailAspir(pince, bougie);
   public RobotContainer() {
-    autoChooser = AutoBuilder.buildAutoChooser("New Auto");
+  CameraServer.startAutomaticCapture();
-    SmartDashboard.putData("Auto Mode", autoChooser);
+  configureBindings();
-    configureBindings();
+  NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-    NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
+  NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
-    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
+  NamedCommands.registerCommand("L4", new L4(elevateur, pince));
-    NamedCommands.registerCommand("L4", new L4(elevateur, pince));
+  NamedCommands.registerCommand("L3", new L3(elevateur, pince));
-    NamedCommands.registerCommand("L3", new L3(elevateur, pince));
+  NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
-    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
+  NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
-    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
+  NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
-    NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
+  NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
-    NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
+  autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-    }
+  SmartDashboard.putData("Auto Mode", autoChooser);
+  }
+
   private void configureBindings() {
     drivetrain.registerTelemetry(logger::telemeterize);
- drivetrain.setDefaultCommand(
+    drivetrain.setDefaultCommand(
       // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
             drive.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*-manette1.getLeftX()*-manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
               .withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*-manette1.getLeftY()*-manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
-              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*-manette1.getRightX()*-manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
+             .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*-manette1.getRightX()*-manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
         )
       );
+    
             /* Manette 1 */
     //pince
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
-    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur,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.povRight().whileTrue(new CoralExpire(pince, bougie));
     manette1.leftTrigger().whileTrue(new DepartPince(pince));
     manette1.povDown().whileTrue(new Algue_inspire(pince,bougie));
+    manette1.leftStick().whileTrue(new CorailAspir(pince, bougie));
     //elevateur
-    manette1.a().whileTrue(new Depart(elevateur, pince));
+    manette1.a().toggleOnTrue(new Depart(elevateur, pince));
-    manette1.b().whileTrue(new L2(elevateur,pince));
+    manette1.b().toggleOnTrue(new L2(elevateur,pince));
-    manette1.x().whileTrue(new L3(elevateur, pince));
+    manette1.x().toggleOnTrue(new L3(elevateur, pince));
-    manette1.y().whileTrue(new L4(elevateur, pince));
+    manette1.y().toggleOnTrue(new L4(elevateur, pince));
-    manette1.povUp().whileTrue(new balonL2(elevateur));
+    manette1.povUp().toggleOnTrue(new balonL2(elevateur));
-    manette1.start().whileTrue(new balonL3(elevateur));
+    manette1.start().toggleOnTrue(new balonL3(elevateur));
+
 
             /* Manette 2 */
     //requin
@@ -144,6 +155,7 @@ public class RobotContainer {
 
     //limelight
     manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
    
     //grimpeur
     manette2.povDown().whileTrue(new GrimpeurManuelhaut(Grimpeur, bougie));
@@ -161,7 +173,7 @@ public class RobotContainer {
     }, elevateur));
 
     //Reset encodeur
-    manette2.start().whileTrue(new reset(elevateur, pince));
+    manette2.start().whileTrue(new reset(elevateur, pince, requin));
   }
     
     public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/Elevateur/L2.java

@@ -26,12 +26,11 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(pince.encodeurpivot()>=16 && pince.encodeurpivot()<=17){
+     if(pince.encodeurpivot()>=14 && pince.encodeurpivot()<=15){
        pince.pivote(0);
-     
      }
-     else if(pince.encodeurpivot()>=17){
+     else if(pince.encodeurpivot()>=14){
-       pince.pivote(-0.1);
+       pince.pivote(-0.2);
      }
      else{
        pince.pivote(0.1);

src/main/java/frc/robot/commands/Elevateur/L3.java

@@ -28,26 +28,26 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
+  if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
-      elevateur.vitesse(0);
+    elevateur.vitesse(0);
-        pince.pivote(-0.15);
+    pince.pivote(-0.15);
-        if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
+    if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
-          pince.pivote(0);
+      pince.pivote(0);
-        }
+    }
-        else if(pince.encodeurpivot()>=20){
+    else if(pince.encodeurpivot()>=20){
-          pince.pivote(-0.15);
+      pince.pivote(-0.15);
-        }
-        else{
-          pince.pivote(0.15);
-        }
-  }
-    else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
-      elevateur.vitesse(-0.7);
     }
     else{
-      elevateur.vitesse(0.25);
+      pince.pivote(0.15);
     }
   }
+  else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
+  elevateur.vitesse(-0.7);
+  }
+  else{
+    elevateur.vitesse(0.25);
+  }
+  }
 
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/commands/Elevateur/L4.java

@@ -29,11 +29,11 @@ public class L4 extends Command {
   public void execute() {
     if(elevateur.position()<=elevateur.encodeurelevateurL4bas() && elevateur.position()>=elevateur.encodeurelevateurL4haut()){
       elevateur.vitesse(0); 
-      pince.pivote(-0.1);
+      pince.pivote(-0.15);
-      if(pince.encodeurpivot()>=22 && pince.encodeurpivot()<=23){
+      if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
         pince.pivote(0);
       }
-      else if(pince.encodeurpivot()>=22){
+      else if(pince.encodeurpivot()>=20){
         pince.pivote(-0.15);
       }
       else{

src/main/java/frc/robot/commands/Elevateur/StationPince.java

@@ -22,7 +22,7 @@ public class StationPince extends Command {
     this.elevateur = elevateur;
     this.pince = pince;
     this.bougie = bougie;
-    addRequirements(pince,elevateur, bougie);
+    addRequirements(pince, elevateur, bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -35,9 +35,18 @@ public class StationPince extends Command {
   @Override
   public void execute() {
     
-    if(pince.emperagecoral() >= 12){     
+    if(pince.emperagecoral() >= 18){     
       pince.x = true;
     }
+    if(elevateur.position()<=-0.1 && elevateur.position()>= -0.2){
+      elevateur.vitesse(0);
+    }
+    else if(elevateur.position()>=-0.1){
+      elevateur.vitesse(-0.7);
+      }
+      else{
+        elevateur.vitesse(0.25);
+      }
     if(pince.x){
       pince.aspirecoral(0);
       bougie.Bleu();
@@ -47,19 +56,21 @@ public class StationPince extends Command {
       }
     }
     else{
-      pince.aspirecoral(0.1);
+      pince.aspirecoral(0.25);
+      
     }
     if (!pince.x){
-      if(pince.encodeurpivot()>=10.5 && pince.encodeurpivot()<=11.5){
+      pince.pivote(-0.15);
+      if(pince.encodeurpivot()>=10 && pince.encodeurpivot()<=11){
         pince.pivote(0);
       }
-      else if(pince.encodeurpivot()>=11){
+      else if(pince.encodeurpivot()>=10.5){
-        pince.pivote(-0.1);
+        pince.pivote(-0.15);
       }
       else{
-        pince.pivote(0.1);
+        pince.pivote(0.15);
       }
-    }
+    }    
   }
 
   // Called once the command ends or is interrupted.
@@ -67,6 +78,7 @@ public class StationPince extends Command {
   public void end(boolean interrupted) {
     pince.pivote(0);
     pince.aspirecoral(0);
+    elevateur.vitesse(0);
     pince.x =false;
   }
 

src/main/java/frc/robot/commands/Pince/CoralExpire.java

@@ -26,13 +26,13 @@ public class CoralExpire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
+    /*  je crois que ce nest pas necessaire
     if(pince.emperagecoral() > 60){
      pince.aspirecoral(0);
    }
-   else{
+    */
     pince.aspirecoral(-.5);
     bougie.Jaune();
-    }
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java

@@ -27,31 +27,28 @@ public class BalayeuseAlgue extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    
+    double cibleMin = 700;
-     if(requin.amp()>=12){
+    double cibleMax = 900;
-      requin.xRequin = true;
+
-     }
+     if(requin.amp()>=78.2){
+       requin.xRequin = true;
+      }
      if(requin.xRequin){
       bougie.Vert();
       requin.balaye(0);
-     }
+      }
-     else{
+      if(!requin.xRequin){
-      requin.balaye(.2);
+        if(requin.encodeur()<=cibleMax &&  requin.encodeur()>=cibleMin){
-     }
+          requin.rotationer(0);
-     if(!requin.xRequin){
+          requin.balaye(-0.4);
-       if(requin.encodeur()>=700){
+        }
-        requin.rotationer(-0.5);
+        else if(requin.encodeur()>=cibleMax){
+          requin.rotationer(-0.1);
         }
         else{
-         requin.rotationer(0.5);
+          requin.rotationer(0.3);
         }
-        if(requin.encodeur()<=715 &&  requin.encodeur()>=670){
+      }
-          requin.rotationer(0);
-        }
-     }
-    
-   
-    
    }
 
   // Called once the command ends or is interrupted.
@@ -59,6 +56,7 @@ public class BalayeuseAlgue extends Command {
   public void end(boolean interrupted) {
     requin.rotationer(0);
     requin.balaye(0);
+    requin.xRequin = false;
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/requin/BalayeuseCoral.java

@@ -27,27 +27,27 @@ public class BalayeuseCoral extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-     if(requin.encodeur()<=1200 &&  requin.encodeur()>=1025){
+    double cibleMax = 1100;
-       requin.rotationer(0);
+    double cibleMin = 900;
-      if(requin.amp()>=12){
+    if(requin.amp()>=78.2){
         requin.xRequin = true;
       }
       if(requin.xRequin){
         requin.balaye(0);
         bougie.Vert();
       }
+    if (!requin.xRequin) {
+     if(requin.encodeur()<=cibleMax &&  requin.encodeur()>=cibleMin){
+       requin.rotationer(0);
+       requin.balaye(0.7);  
+      } 
+      else if(requin.encodeur()>=cibleMax){
+      requin.rotationer(-0.5);
+      }
       else{
-       requin.balaye(0.5);
+        requin.rotationer(0.5);
       }
       }
-      if (!requin.xRequin) {
-        if(requin.encodeur()>=1200){
-          requin.rotationer(-0.5);
-          }
-          else{
-            requin.rotationer(0.5);
-          }
-      }
     }
 
   // Called once the command ends or is interrupted.
@@ -55,6 +55,7 @@ public class BalayeuseCoral extends Command {
   public void end(boolean interrupted) {
     requin.rotationer(0);
     requin.balaye(0);
+    requin.xRequin = false;
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/requin/ExpireCorail.java

@@ -28,14 +28,14 @@ public class ExpireCorail extends Command {
   @Override
   public void execute() {
     if(requin.amp()> 60){
-      requin.balaye(-0.5);
+      requin.balaye(-0.4);
     }
-     else
+    else
-     {
+    {
-          bougie.Rouge();
+    bougie.Rouge();
-          requin.balaye(-0.5);
+    requin.balaye(-0.4);   
-     }
   }
+}
 
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/commands/requin/L1Requin.java

@@ -27,11 +27,11 @@ public class L1Requin extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    
+    bougie.Bleu();
-    if(requin.encodeur()<=645 &&  requin.encodeur()>=600){
+    if(requin.encodeur()<=530 &&  requin.encodeur()>=430){
       requin.rotationer(0);
     }
-    else if(requin.encodeur()>=645){
+    else if(requin.encodeur()>=530){
     requin.rotationer(-0.5);
     }
     else{

src/main/java/frc/robot/commands/requin/exspire.java

@@ -31,11 +31,11 @@ public class exspire extends Command {
   public void execute() {
    if(requin.amp()> 15)
    {
-    requin.balaye(0.5);
+    requin.balaye(0.4);
    }
    else{
     bougie.Rouge();
-    requin.balaye(0.5);
+    requin.balaye(0.4);
    }
   }
 

src/main/java/frc/robot/commands/reset.java

@@ -7,19 +7,20 @@ package frc.robot.commands;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
-
+import frc.robot.subsystems.Requin;
-
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class reset extends Command {
   /** Creates a new reset. */
   private Elevateur elevateur;
   private Pince pince;
-  public reset(Elevateur elevateur, Pince pince) {
+  private Requin requin;
+  public reset(Elevateur elevateur, Pince pince, Requin requin) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.elevateur = elevateur;
     this.pince = pince;
-    addRequirements(elevateur,pince);
+    this.requin = requin;
+    addRequirements(elevateur,pince, requin);
   }
 
   // Called when the command is initially scheduled.
@@ -31,6 +32,7 @@ public class reset extends Command {
   public void execute() {
     elevateur.reset();
     pince.reset();
+    requin.reset();
   }
 
   // Called once the command ends or is interrupted.

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

@@ -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

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

@@ -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() {