PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-03-04 17:37:15 -05:00
parent 004890fd7b
commit c0e7985ab7
6 changed files with 54 additions and 54 deletions
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20
src/main/java/frc/robot/RobotContainer.java
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@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -78,7 +79,6 @@ 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;
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
} }
@@ -160,24 +160,24 @@ public class RobotContainer {
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(-0.1*MaxSpeed) drive.withVelocityX(-0.1*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3), .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3.5),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(0.5*MaxSpeed) drive.withVelocityX(0.1*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3), .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3.5),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(-0.5*MaxSpeed) drive.withVelocityX(-0.1*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(2), .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(3),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(0) drive.withVelocityX(0)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).withTimeout(0.1), .withRotationalRate(0)).withTimeout(0.1),
new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4), new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(0.2*MaxSpeed) drive.withVelocityX(0.1*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)
.withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.5), .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.25),
drivetrain.applyRequest(()-> drivetrain.applyRequest(()->
drive.withVelocityX(0*MaxSpeed) drive.withVelocityX(0*MaxSpeed)
.withVelocityY(0) .withVelocityY(0)

4
src/main/java/frc/robot/commands/Elevateur/L2.java
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@@ -26,10 +26,10 @@ public class L2 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() {
if(pince.encodeurpivot()>=14 && pince.encodeurpivot()<=15){ if(pince.encodeurpivot()>=15 && pince.encodeurpivot()<=16.5){
pince.pivote(0); pince.pivote(0);
} }
else if(pince.encodeurpivot()>=14){ else if(pince.encodeurpivot()>=15){
pince.pivote(-0.2); pince.pivote(-0.2);
} }
else{ else{

4
src/main/java/frc/robot/commands/requin/BalayeuseAlgue.java
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@@ -27,8 +27,8 @@ public class BalayeuseAlgue 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() {
double cibleMin = 700; double cibleMin = 550;
double cibleMax = 900; double cibleMax = 650;
if(requin.amp()>=78.2){ if(requin.amp()>=78.2){
requin.xRequin = true; requin.xRequin = true;

4
src/main/java/frc/robot/commands/requin/ExpireCorail.java
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@@ -28,12 +28,12 @@ public class ExpireCorail extends Command {
@Override @Override
public void execute() { public void execute() {
if(requin.amp()> 60){ if(requin.amp()> 60){
requin.balaye(-0.4); requin.balaye(-0.2);
} }
else else
{ {
bougie.Rouge(); bougie.Rouge();
requin.balaye(-0.4); requin.balaye(-0.2);
} }
} }

4
src/main/java/frc/robot/commands/requin/L1Requin.java
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@@ -27,10 +27,10 @@ public class L1Requin 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() {
if(requin.encodeur()<=530 && requin.encodeur()>=430){ if(requin.encodeur()<=485 && requin.encodeur()>=385){
requin.rotationer(0); requin.rotationer(0);
} }
else if(requin.encodeur()>=530){ else if(requin.encodeur()>=485){
requin.rotationer(-0.5); requin.rotationer(-0.5);
} }
else{ else{

72
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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@@ -45,42 +45,42 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains(); private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation(); private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
private void configureAutoBuilder() { // private void configureAutoBuilder() {
try { // try {
var config = RobotConfig.fromGUISettings(); // var config = RobotConfig.fromGUISettings();
AutoBuilder.configure( // AutoBuilder.configure(
() -> getState().Pose, // Supplier of current robot pose // () -> getState().Pose, // Supplier of current robot pose
this::resetPose, // Consumer for seeding pose against auto // this::resetPose, // Consumer for seeding pose against auto
() -> getState().Speeds, // Supplier of current robot speeds // () -> getState().Speeds, // Supplier of current robot speeds
// Consumer of ChassisSpeeds and feedforwards to drive the robot // // Consumer of ChassisSpeeds and feedforwards to drive the robot
(speeds, feedforwards) -> setControl( // (speeds, feedforwards) -> setControl(
m_pathApplyRobotSpeeds.withSpeeds(speeds) // m_pathApplyRobotSpeeds.withSpeeds(speeds)
.withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons()) // .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
.withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons()) // .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
), // ),
new PPHolonomicDriveController( // new PPHolonomicDriveController(
// PID constants for translation // // PID constants for translation
new PIDConstants(63.167, 0, 0.54521), // new PIDConstants(63.167, 0, 0.54521),
// // PID constants for rotation // // // PID constants for rotation
// new PIDConstants(7.9735, 0, 0.038499) // // new PIDConstants(7.9735, 0, 0.038499)
// PID constants for rotation // // PID constants for rotation
new PIDConstants(43.502,0,2.7353) // new PIDConstants(43.502,0,2.7353)
), // ),
config, // config,
// Assume the path needs to be flipped for Red vs Blue, this is normally the case // // Assume the path needs to be flipped for Red vs Blue, this is normally the case
() -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red, // () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
this // Subsystem for requirements // this // Subsystem for requirements
); // );
} catch (Exception ex) { // } catch (Exception ex) {
DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace()); // DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
} // }
PPHolonomicDriveController.overrideRotationFeedback(()->{ // PPHolonomicDriveController.overrideRotationFeedback(()->{
return 0; // return 0;
}); // });
} // }
/** /**
* Constructs a CTRE SwerveDrivetrain using the specified constants. * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -100,7 +100,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
if (Utils.isSimulation()) { if (Utils.isSimulation()) {
startSimThread(); startSimThread();
} }
configureAutoBuilder(); //configureAutoBuilder();
} }
/** /**
@@ -125,7 +125,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
if (Utils.isSimulation()) { if (Utils.isSimulation()) {
startSimThread(); startSimThread();
} }
configureAutoBuilder(); // configureAutoBuilder();
} }
/** /**
@@ -158,7 +158,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
if (Utils.isSimulation()) { if (Utils.isSimulation()) {
startSimThread(); startSimThread();
} }
configureAutoBuilder(); //configureAutoBuilder();
} }