mode auto manuel

src/main/deploy/pathplanner/paths/New Path.path

@@ -35,8 +35,8 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxAngularVelocity": 0.1,
+    "maxAngularAcceleration": 0.1,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

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

@@ -28,8 +28,10 @@ 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.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
+import frc.robot.commands.AvancerAuto;
 import frc.robot.commands.RainBow;
 import frc.robot.commands.reset;
 import frc.robot.commands.Elevateur.Depart;
@@ -177,14 +179,19 @@ public class RobotContainer {
   }
     
     public Command getAutonomousCommand() {
-      return new SequentialCommandGroup(Commands.runOnce(()->{
-        boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
-        if(flip){
-            drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
-        }
-        else{
-            drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
-        }
-      }),autoChooser.getSelected(), new RainBow(bougie));
+      return new SequentialCommandGroup(
+        new AvancerAuto(drive).withTimeout(2),
+        new L1Requin(requin, bougie).withTimeout(2),
+        new ExpireCorail(requin, bougie).withTimeout(2),
+        new RainBow(bougie));
+      // return new SequentialCommandGroup(Commands.runOnce(()->{
+      //   boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
+      //   if(flip){
+      //       drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
+      //   }
+      //   else{
+      //       drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
+      //   }
+      // }),autoChooser.getSelected(), new RainBow(bougie));
     }    
 }

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

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.TunerConstants.TunerConstants;
+
+/* 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 AvancerAuto extends Command {
+   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
+   private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
+    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1);
+  /** Creates a new AvancerAuto. */
+  public AvancerAuto(SwerveRequest.RobotCentric drive) {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    drive.withVelocityX(0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    drive.withVelocityX(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -49,14 +49,16 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         try {
             var config = RobotConfig.fromGUISettings();
             AutoBuilder.configure(
+                
                 () -> getState().Pose,   // Supplier of current robot pose
                 this::resetPose,         // Consumer for seeding pose against auto
                 () -> getState().Speeds, // Supplier of current robot speeds
+                
                 // Consumer of ChassisSpeeds and feedforwards to drive the robot
                 (speeds, feedforwards) -> setControl(
                     m_pathApplyRobotSpeeds.withSpeeds(speeds)
-                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
-                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
+                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
+                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
                 ),
                 new PPHolonomicDriveController(
                     // PID constants for translation
@@ -70,6 +72,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
                 // Assume the path needs to be flipped for Red vs Blue, this is normally the case
                 () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
                 this // Subsystem for requirements
+                
             );
         } catch (Exception ex) {
             DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());