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This commit is contained in:
Antoine PerreaultE 2025-02-25 18:12:27 -05:00
parent 3660bb9c4a
commit b6d9ccddb8
1 changed files with 74 additions and 74 deletions
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140
src/main/java/frc/robot/RobotContainer.java
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@ -43,85 +43,85 @@ import frc.robot.subsystems.Limelight3G;
import frc.robot.subsystems.Pince; import frc.robot.subsystems.Pince;
public class RobotContainer { public class RobotContainer {
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 a rotation per second max angular velocity private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
/* Setting up bindings for necessary control of the swerve drive platform */ /* Setting up bindings for necessary control of the swerve drive platform */
private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric() private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
.withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
.withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
private final Telemetry logger = new Telemetry(MaxSpeed); private final Telemetry logger = new Telemetry(MaxSpeed);
private final CommandXboxController manette1 = new CommandXboxController(0); private final CommandXboxController manette1 = new CommandXboxController(0);
private final CommandXboxController manette2 = new CommandXboxController(1); private final CommandXboxController manette2 = new CommandXboxController(1);
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain(); public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
Elevateur elevateur = new Elevateur(); Elevateur elevateur = new Elevateur();
Pince pince = new Pince(); Pince pince = new Pince();
ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY); ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
PinceManuel pinceManuel = new PinceManuel(pince); PinceManuel pinceManuel = new PinceManuel(pince);
PinceManuel2 pinceManuel2 = new PinceManuel2(pince); PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
private final SendableChooser<Command> autoChooser; private final SendableChooser<Command> autoChooser;
Bougie bougie = new Bougie(); Bougie bougie = new Bougie();
Limelight3G limelight3g = new Limelight3G(); Limelight3G limelight3g = new Limelight3G();
Limelight3 limelight3 = new Limelight3(); Limelight3 limelight3 = new Limelight3();
Pose2d pose = new Pose2d(); Pose2d pose = new Pose2d();
private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2 private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
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
} }
public RobotContainer() { public RobotContainer() {
autoChooser = AutoBuilder.buildAutoChooser("New Auto"); autoChooser = AutoBuilder.buildAutoChooser("New Auto");
SmartDashboard.putData("Auto Mode", autoChooser); 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));
} }
private void configureBindings() { private void configureBindings() {
elevateur.setDefaultCommand(new RunCommand(()->{ // Elevateur manuel
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
}, elevateur)); elevateur.setDefaultCommand(new RunCommand(()->{
pince.setDefaultCommand(new RunCommand(()->{ elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2)); }, elevateur));
}, pince));
// Note that X is defined as forward according to WPILib convention, //Pince manuel
// and Y is defined as to the left according to WPILib convention. pince.setDefaultCommand(new RunCommand(()->{
drivetrain.setDefaultCommand( pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
// Drivetrain will execute this command periodically }, pince));
drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward) // Note that X is defined as forward according to WPILib convention,
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left) // and Y is defined as to the left according to WPILib convention.
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left) drivetrain.setDefaultCommand(
) // Drivetrain will execute this command periodically
); drivetrain.applyRequest(() ->
drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward)
.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left)
.withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left)
)
);
// reset the field-centric heading on left bumper press // reset the field-centric heading on left bumper press
manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric())); manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY)); manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
manette1.a().whileTrue(new reset(elevateur,pince)); manette1.a().whileTrue(new reset(elevateur,pince));
manette1.b().whileTrue(new L2(elevateur, pince)); manette1.b().whileTrue(new L2(elevateur, pince));
// manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
// manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY)); drivetrain.registerTelemetry(logger::telemeterize);
}
drivetrain.registerTelemetry(logger::telemeterize);
}
public Command getAutonomousCommand() { public Command getAutonomousCommand() {
return new SequentialCommandGroup(Commands.runOnce(()->{ return new SequentialCommandGroup(Commands.runOnce(()->{
boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red; boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
if(flip){ if(flip){
drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose())); drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
} }
else{ else{
drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()); drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
} }
}),autoChooser.getSelected(), new RainBow(bougie)); }),autoChooser.getSelected(), new RainBow(bougie));
} }
} }