PLS5618/Reefscape-2025
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Antoine PerreaultE 2025-03-04 10:06:12 -05:00
parent b1124bd3f0
commit a420d3ff2f
2 changed files with 15 additions and 13 deletions
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22
src/main/java/frc/robot/RobotContainer.java
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@ -85,7 +85,7 @@ public class RobotContainer {
private final CommandXboxController manette2 = new CommandXboxController(1); private final CommandXboxController manette2 = new CommandXboxController(1);
private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2 private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(); public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private final SendableChooser<Command> autoChooser; //private final SendableChooser<Command> autoChooser;
public double getAngle() { public double getAngle() {
return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
} }
@ -104,16 +104,16 @@ public class RobotContainer {
public RobotContainer() { public RobotContainer() {
CameraServer.startAutomaticCapture(); CameraServer.startAutomaticCapture();
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"); //autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser); //SmartDashboard.putData("Auto Mode", autoChooser);
} }
private void configureBindings() { private void configureBindings() {

6
src/main/java/frc/robot/commands/AvancerAuto.java
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@ -6,6 +6,7 @@ package frc.robot.commands;
import static edu.wpi.first.units.Units.*; import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest; import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
@ -16,7 +17,8 @@ public class AvancerAuto extends Command {
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 private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric() private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1); .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
.withDriveRequestType(DriveRequestType.OpenLoopVoltage);
/** Creates a new AvancerAuto. */ /** Creates a new AvancerAuto. */
public AvancerAuto(SwerveRequest.RobotCentric drive) { public AvancerAuto(SwerveRequest.RobotCentric drive) {
// Use addRequirements() here to declare subsystem dependencies. // Use addRequirements() here to declare subsystem dependencies.
@ -29,7 +31,7 @@ public class AvancerAuto extends Command {
// Called every time the scheduler runs while the command is scheduled. // Called every time the scheduler runs while the command is scheduled.
@Override @Override
public void execute() { public void execute() {
drive.withVelocityX(0.2); drive.withVelocityX(0.2*MaxSpeed);
} }
// Called once the command ends or is interrupted. // Called once the command ends or is interrupted.