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Modes Autos complets

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This commit is contained in:
samuel desharnais 2025-01-30 19:18:56 -05:00
parent 76ea02c3dd
commit b0ce8aaad7
9 changed files with 186 additions and 68 deletions
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6
src/main/deploy/pathplanner/autos/BlueBas1.auto
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@ -17,7 +17,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -33,7 +33,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -45,7 +45,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
} }
] ]

22
src/main/deploy/pathplanner/autos/BlueBas2.auto
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@ -17,7 +17,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -33,7 +33,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -45,7 +45,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
}, },
{ {
@ -67,7 +67,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -83,7 +83,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "Station"
} }
} }
] ]
@ -92,6 +92,12 @@
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "CoralExpire"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
@ -99,7 +105,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -121,7 +127,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -133,7 +139,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
} }
] ]

42
src/main/deploy/pathplanner/autos/BlueBas3.auto
View File

@ -17,7 +17,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -33,7 +33,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -45,7 +45,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
}, },
{ {
@ -67,7 +67,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -83,7 +83,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "Station"
} }
} }
] ]
@ -92,6 +92,12 @@
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
@ -99,7 +105,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -121,7 +127,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -133,7 +139,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
}, },
{ {
@ -159,13 +165,13 @@
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 0 "waitTime": 0.5
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralInspire"
} }
} }
] ]
@ -174,12 +180,18 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
} }
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
@ -197,13 +209,13 @@
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 0 "waitTime": 0.5
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
} }
] ]
@ -212,7 +224,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
} }
] ]
@ -221,7 +233,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
} }
] ]

6
src/main/deploy/pathplanner/autos/BlueHaut1.auto
View File

@ -17,7 +17,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -33,7 +33,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -45,7 +45,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
} }
] ]

24
src/main/deploy/pathplanner/autos/BlueHaut2.auto
View File

@ -17,7 +17,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -33,7 +33,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -45,13 +45,13 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
}, },
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 0 "waitTime": 1.0
} }
}, },
{ {
@ -67,7 +67,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -83,7 +83,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "Station"
} }
} }
] ]
@ -92,6 +92,12 @@
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
@ -99,7 +105,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -121,7 +127,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -133,7 +139,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
} }
] ]

42
src/main/deploy/pathplanner/autos/BlueHaut3.auto
View File

@ -17,7 +17,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -33,7 +33,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -45,7 +45,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
}, },
{ {
@ -67,7 +67,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -83,7 +83,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "Station"
} }
} }
] ]
@ -92,6 +92,12 @@
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
@ -99,7 +105,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -121,7 +127,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -133,7 +139,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
}, },
{ {
@ -159,13 +165,13 @@
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 0 "waitTime": 0.5
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "Station"
} }
} }
] ]
@ -174,12 +180,18 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
} }
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "CoralInspire"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
@ -197,13 +209,13 @@
{ {
"type": "wait", "type": "wait",
"data": { "data": {
"waitTime": 0 "waitTime": 0.5
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
} }
] ]
@ -212,7 +224,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
} }
] ]
@ -221,7 +233,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
} }
] ]

28
src/main/deploy/pathplanner/autos/MilieuAlgue.auto
View File

@ -17,7 +17,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -33,25 +33,43 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
}
},
{
"type": "wait",
"data": {
"waitTime": 0.5
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
}
},
{
"type": "wait",
"data": {
"waitTime": 0.5
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L3"
}
},
{
"type": "wait",
"data": {
"waitTime": 0.5
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoraletAlgue"
} }
} }
] ]

6
src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto
View File

@ -17,7 +17,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "AprilTag"
} }
}, },
{ {
@ -33,13 +33,13 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "L4"
} }
}, },
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": null "name": "CoralExpire"
} }
} }
] ]

78
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,17 +4,81 @@
package frc.robot; package frc.robot;
import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
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 edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Rotation2d;
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.Commands; import edu.wpi.first.wpilibj2.command.Commands;
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.Grimpe;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Grimpeur;
public class RobotContainer { public class RobotContainer {
public RobotContainer() { private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
configureBindings(); private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
}
private void configureBindings() {} /* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
public Command getAutonomousCommand() { private final Telemetry logger = new Telemetry(MaxSpeed);
return Commands.print("No autonomous command configured");
} private final CommandXboxController joystick = new CommandXboxController(0);
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
private final SendableChooser<Command> autoChooser;
public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser);
configureBindings();
}
private void configureBindings() {
// Note that X is defined as forward according to WPILib convention,
// and Y is defined as to the left according to WPILib convention.
drivetrain.setDefaultCommand(
// Drivetrain will execute this command periodically
drivetrain.applyRequest(() ->
drive.withVelocityX(-joystick.getLeftY() * MaxSpeed) // Drive forward with negative Y (forward)
.withVelocityY(-joystick.getLeftX() * MaxSpeed) // Drive left with negative X (left)
.withRotationalRate(-joystick.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
)
);
// Run SysId routines when holding back/start and X/Y.
// Note that each routine should be run exactly once in a single log.
joystick.back().and(joystick.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
joystick.back().and(joystick.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
joystick.start().and(joystick.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
joystick.start().and(joystick.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
// reset the field-centric heading on left bumper press
joystick.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
drivetrain.registerTelemetry(logger::telemeterize);
}
public Command getAutonomousCommand() {
return autoChooser.getSelected();
}
} }